An Implementation of Active Contour and Kalman Filter for Road Tracking

In this paper an active contour based visual guidance systems for outdoor Autonomous Ground Vehicle (AGV) navigation is presented. The objective of this research is to design a visual guidance system for outdoor AGV navigation that can detect and track road boundaries. The B-spline based active contour is used to define the initial contour of road boundary on image sequences. Various image processing steps are performed on the image to extract road features. Curve fitting is used to measure the pose and orientation measurement. Kalman filter is used to track the road boundaries over time in an image sequences. Experimental results show that the design algorithm effectively track a wide range of road models.

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