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Dual Segmentation Technique for Road Extraction on Unstructured Roads for Autonomous Mobile Robots

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Computer Vision and Image Processing (CVIP 2020)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1378))

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Abstract

Segmentation and delineation of road features from remotely sensed images find many applications including navigation. Road segmentation of mobile robots for autonomous navigation is further challenging because of illumination conditions of the scene varies as per the environment. The scene becomes more complicated in case of locations such as varying slope and unstructured or rural road conditions. We propose a novel technique called “Dual Segmentation” in which the image is pre-processed with modified RG chromacity based intensity normalization. The normalized image channels obtained are subjected to k-means clustering to find their cluster compactness. Based on the minimum cluster compactness one of the image channel is selected and Otsu segmentation is applied on it to obtain road segments. This segmented image is further processed with morphological operations to remove noise. Finally gray connected operation is applied to retain the single large road segment by removing many small unconnected regions. The outcome of the proposed Dual Segmentation technique gives pixel accuracy of about 99% with reference to ground truth images. The average execution time per image is 0.07 s when run on an Intel i5-M520 @ 2.40 GHz CPU.

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Acknowledgment

The authors would like to thank Director, CAIR and Shri V C Ravi for helping us in procuring resources and publishing these results.

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Authors and Affiliations

  1. Centre for Artificial Intelligence and Robotics (CAIR), Defence Research and Development Organization (DRDO), Bangalore, 560093, India

    Kethavath Raj Kumar, D. K. Savitha & Narayan Panigrahi

Authors
  1. Kethavath Raj Kumar
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  2. D. K. Savitha
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  3. Narayan Panigrahi
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Corresponding author

Correspondence to Kethavath Raj Kumar .

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Editors and Affiliations

  1. Indian Institute of Information Technology Allahabad, Prayagraj, India

    Satish Kumar Singh

  2. Indian Institute of Technology Roorkee, Roorkee, India

    Partha Roy

  3. Indian Institute of Technology Roorkee, Roorkee, India

    Balasubramanian Raman

  4. Indian Institute of Information Technology Allahabad, Prayagraj, India

    P. Nagabhushan

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Kumar, K.R., Savitha, D.K., Panigrahi, N. (2021). Dual Segmentation Technique for Road Extraction on Unstructured Roads for Autonomous Mobile Robots. In: Singh, S.K., Roy, P., Raman, B., Nagabhushan, P. (eds) Computer Vision and Image Processing. CVIP 2020. Communications in Computer and Information Science, vol 1378. Springer, Singapore. https://doi.org/10.1007/978-981-16-1103-2_40

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  • DOI: https://doi.org/10.1007/978-981-16-1103-2_40

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-1102-5

  • Online ISBN: 978-981-16-1103-2

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