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@inproceedings{950211,
author = {Stoklasa, Roman and Matula, Petr},
address = {Vienna},
booktitle = {2nd International Conference on Robotics in Education},
editor = {Roland Stelzer and Karim Jafarmadar},
keywords = {road detection; similarity search; navigation; image classification; autonomous robot; Robotour},
howpublished = {tištěná verze "print"},
language = {eng},
location = {Vienna},
isbn = {978-3-200-02273-7},
pages = {95-102},
publisher = {Neuveden},
title = {Road Detection Using Similarity Search},
year = {2011}
}
TY - JOUR
ID - 950211
AU - Stoklasa, Roman - Matula, Petr
PY - 2011
TI - Road Detection Using Similarity Search
PB - Neuveden
CY - Vienna
SN - 9783200022737
KW - road detection
KW - similarity search
KW - navigation
KW - image classification
KW - autonomous robot
KW - Robotour
N2 - This paper concerns vision-based navigation of autonomous robots. We propose a new approach for road detection based on similarity database searches. Images from the camera are divided into regular samples and for each sample the most visually similar images are retrieved from the database. The similarity between the samples and the image database is measured in a metric space using three descriptors: edge histogram, color structure and color layout, resulting in a classification of each sample into two classes: road and non-road with a confidence measure. The performance of our approach has been evaluated with respect to a manually defined ground-truth. The approach has been successfully applied to four videos consisting of more than 1180 frames. It turned out that our approach offers very precise classification results.
ER -
STOKLASA, Roman and Petr MATULA. Road Detection Using Similarity Search. In Roland Stelzer and Karim Jafarmadar. \textit{2nd International Conference on Robotics in Education}. Vienna: Neuveden, 2011, p.~95-102. ISBN~978-3-200-02273-7.
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