Region Growing Approach on Detecting Drivable Space for Intelligent Autonomous Vehicles: Region Growing Drivable Space Detection

摘要

In this paper, an image segmentation method called region growing, using threshold estimated from previous indicated road region, is proposed to determine that the pixels in the image belong to road region or not. With a defined initial partial road region, the whole road region can be obtained. On the other hand, with a prior bird-eye view map of the area where the vehicle drives, the contours of road region extracted from captured images are matching with the contour on the map by iterative closest point to obtain the vehicle position. The experimental results show that in structured road, with the localization by road signs, stop lines, and lane lines, the global positions of vehicle can be estimated while the relative movements are very close to GPS data.