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Practical autonomous robotic vehicles require dependable methods for accurately identifying course or roadway boundaries. The authors have developed a method to reliably extract the boundary line using simple dynamic thresholding, noise filtering, and blob removal. This article describes their efforts to apply this procedure in developing an autonomous vehicle to compete in the International Unmanned Ground Robotics Competition.
Chris Roman, Charles Reinholtz, "Robust Course-Boundary Extraction Algorithms for Autonomous Vehicles", IEEE Intelligent Systems, vol. 13, no. , pp. 32-39, November/December 1998, doi:10.1109/5254.736000
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