Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
This paper proposes road following method by vanishing point detection using convolutional neural network (CNN). Some previous road following methods require teaching road features. On the other hand, CNN acquires them automatically and can detect objects in high accuracy and robustness. Network training data is collected in a road, and detection and road following experiment is held in another road. In vanishing point detection, road images are inspected by sliding rectangular regions (Sliding Window Detection). When vanishing point lies on centerline of rectangle region, that region has the highest vanishing point probability. Vanishing point can be detected regardless of weather. Finally, the effectiveness of the proposed method was confirmed by experiment.
