Rapid tracking for autonomous driving with monocular video

Conference Paper

We present a novel tracking algorithm for an autonomous vehicle equipped with a single camera. Given only monocular visual data, our algorithm utilizes projective geometry to compute concise features of the environment. Using these features, road markings are identified by a multi-class classifier. The classification results are then used with a Rao-Blackwellized particle filter to track the vehicle as it moves back and forth across the road. The resulting position tracker is part of a complete, simulated autonomous driving system. The realistic driving video game Need for Speed: Hot Pursuit was used as a vehicle simulation platform, and the autonomous system is shown to perform competitively against the game's automated opponents. © 2013 IEEE.

Full Text

Duke Authors

Cited Authors

  • Wang, P; Torrione, P; Collins, L; Morton, K

Published Date

  • January 1, 2013

Published In

  • 2013 International Conference on Connected Vehicles and Expo, Iccve 2013 Proceedings

Start / End Page

  • 133 - 138

Digital Object Identifier (DOI)

  • 10.1109/ICCVE.2013.6799782

Citation Source

  • Scopus