Self-supervised Monocular Road Detection in Desert Terrain

  title={Self-supervised Monocular Road Detection in Desert Terrain},
  author={Hendrik Dahlkamp and Adrian Kaehler and David Stavens and Sebastian Thrun and Gary R. Bradski},
  booktitle={Robotics: Science and Systems},
We present a method for identifying drivable surfaces in difficult unpaved and offroad terrain conditions as encountered in the DARPA Grand Challenge robot race. Instead of relying on a static, pre-computed road appearance model, this method adjusts its model to changing environments. It achieves robustness by combining sensor information from a laser range finder, a pose estimation system and a color camera. Using the first two modalities, the system first identifies a nearby patch of drivable… CONTINUE READING
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EMS-Vision: Combining on- and off-road driving

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  • Proc. SPIE Conf. on Unmanned Ground Vehicle…
  • 2001
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