Road following by artificial vision using neural network

Abstract

It has been developed, built and tested an artificial vision based system to follow roads, which provides control signals, in a short time, by means of a joint of artificial neural nets. The image is segmented in “road” or “not road.” The obtained segmentation is the input for two neural nets, a classic architecture net (NN), and a TDNN (Time Delay Neural Network) one. The outputs provided by both nets, with a trajectory estimation, are introduced to a decision-making block, which selects the alternative containing less error. The classifier parameters are updated according to the current segmentation.