Rapid tracking for autonomous driving with monocular video
Published
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