Combined Dynamic Tracking and Recognition of Curves with Application to Road Detection

Jean-Philippe Tarel and Frederic Guichard

Abstract

We present an algorithm that extracts the largest shape within a specificclass, starting from a set of image edgels. The algorithm inherits the Best-First Segmentation approach [jpt-iccv99]. However, instead of being applicable only to shapes defined within a given class of curves, we have extended our approach to tackle more general - and complex - shapes. For example, we can now process shapes obtained from sets defined over different kinds of curves and related to one another by estimated parameters. Therefore, we go from a segmentation problem to a recognition problem. In order to reduce the complexity of the searching algorithm, we work with a linearly parameterized class of shapes. This allows us, first, to use a recursive Least-Squares fitting, second, to cast the problem as the search of a largest edgel subset in a directed acyclic graph, and, third, to easily introduce a priori information on the location of the searched subset. This leads us to propose a unified approach where recognition and tracking are combined. Experiments on recognizing and tracking both left and right road boundaries demonstrate that real-time processing is achievable.

Reference

@inproceedings{jpt-icip2000, 
  author    = {Tarel, J.-P. and Guichard, F.}, 
  title     = {Combined Dynamic Tracking and Recognition of Curves with Application to Road Detection},
  booktitle = {IEEE International Conference on Image Processing (ICIP'2000)}, 
  date      = {September 10-13},
  address   = {Vancouver, Canada},
  year      = {2000},
  volume    = {I},
  page      = {216-219},
  note      = {http://perso.lcpc.fr/tarel.jean-philippe/publis/icip00.html}
}

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