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Road Boundary Detection by a Remote Vehicle Using Radon Transform for Path Map Generation of an Unknown Area


A.S.M Shihavuddin, Kabir Ahmed, Md. Shirajum Munir, Khandakar Rashed Ahmed


Vol. 8  No. 8  pp. 64-69


This paper deals with path map generation of an unknown environment by an autonomous vehicle using a proposed trapezoidal approximation of road boundary. Radon transform is used to extract the road boundaries. At first, blind map of the unknown environment is generated in a computer. Image of the unknown environment is captured by the vehicle and sent to the computer using RF transmitter module. The image is pre-processed and the road boundaries are detected using the trapezoidal approximation algorithm and blind map is updated with road positions.


Edge detection, Sobel filter, Radon transform, map generation