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Real-time traversable surface detection by colour space fusion and temporal analysis - Evaluation Dataset Open Access

We present a real-time approach for traversable surface detection using a low-cost monocular camera mounted on an autonomous vehicle. The proposed methodology extracts colour and texture information from various channels of the HSL, YCbCr and L*A*B colour-spaces by temporal analysis in order to create a “traversability map”. On this map lighting and water artefacts are eliminated including shadows, reflections and water prints. Additionally, camera vibration is compensated by temporal filtering leading to robust path edge detection in blurry images. The performance of this approach is extensively evaluated over varying terrain and environmental conditions and the effect of colour-space fusion on the system’s precision is analysed. The results show a mean accuracy of 97% over this comprehensive test set.

Descriptions

Resource type
Dataset
Contributors
Contact person: Breckon, Toby P. 1
Creator: Breckon, Toby P. 1
Creator: Katramados, Ioannis 2
1 Durham University, UK
2 Cranfield University, UK
Funder
Engineering and Physical Sciences Research Council
Research methods
Computer vision and image processing applied to robotic vision and autonomous vehicle guidance.
Other description
Data set from research paper: Real-Time Traversable Surface Detection by Colour Space Fusion and Temporal Analysis (I. Katramados, S. Crumpler, T.P. Breckon), In Proc. International Conference on Computer Vision Systems, Springer, Volume 5815, pp. 265-274, 2009. Previously released (2009-2015) as zip file download from personal web page of the authors (Katramados / Breckon).
Keyword
computer vision
image processing
image analysis
robotics
path detection
robot guidance
traversable pathway
terrain classification
road following
robotic navigation
Subject
Engineering
Computer Science
Location
United Kingdom
Language
English
Cited in
doi:10.1007/978-3-642-04667-4_27
Identifier
doi:10.15128/jd472w44j
ark:/32150/jd472w44j
Rights
All rights reserved All rights reserved
Publisher
Durham University
Date Created
2009

File Details

Depositor
T. Breckon
Date Uploaded
Date Modified
17 May 2016, 14:05:56
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Characterization
File format: zip (ZIP Format)
Mime type: application/zip
File size: 238498858
Last modified: 2015:12:03 16:56:12+00:00
Filename: pathwaydetection09.zip
Original checksum: 33952d38ceb03fe9f4c76f75ae774983
Activity of users you follow
User Activity Date
User S. Palucha has updated Real-time traversable surface detection by colour space fusion and temporal analysis - Evaluation Dataset almost 3 years ago
User T. Breckon has updated Real-time traversable surface detection by colour space fusion and temporal analysis - Evaluation Dataset about 3 years ago
User T. Breckon has updated Real-time traversable surface detection by colour space fusion and temporal analysis - Evaluation Dataset about 3 years ago
User S. Palucha has updated Real-time traversable surface detection by colour space fusion and temporal analysis - Evaluation Dataset about 3 years ago