Nonreconstruction approach for road following
Daniel Raviv, Martin Herman · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1992
This paper presents a new approach for vision-based autonomous road following. By building on a recently developed optical-flow-based theory, we suggest that motion commands can be generated directly from a visual feature, or cue, consisting of the projection into the image of the tangent point on the edge of the road, along with the optical flow of this point. Using this visual cue, there is no need to reconstruct the 3-D scene, and the related computations are relatively simple. We suggest some vision-based partial control algorithms for both circular and non-circular roads.