, ,⋆ , ,
! " # $ %
& '((( ) * + '(((&,
- ./ $ $
" - 0 # 1 2 $ 3
!" #1$3%
$ / 2
2 #
2 4 2 4 2 #
) 2 5 #
4 4 6 #4 $"
7 839 #
4
* : 3 #
2 2 #
6 7
8 2 *#
5
! 9 # 4 5 8
839 *
"
#
$
9 # 4 2
2 4 2 2 4 7
4 2 !
;(+(% 6 2 < #
5 6
4 4 = #
! 4 ;((>% 6 ? #
? 5 #
# 4 # #
2 4
5 # #
!3 3 5 ;((+@ 37 5 . ;(+(%
⋆ A A # A ) B A
, 2 2 2 ? #
2 # 5 4
4
4 2
5 8 #
2 # 4
? 2
2 4 6 ? 2
2 ! ;((+@ 8 ;(++%
6 :
! % 2 2
, ? 2 2 #
2
4 #
# !37 5 . ;(+(%
2 5 ) 4
* C ) 4
4 5 ! % 2 *
< 5
* 4 8 4 2 #
5
, 4 7 6 2
* 2 4 *
? #
4
D 2 *
#? 2
5
%
&
&
, 4 )
5 2 & + ! %
< , *
4 4 4 α xL
! 2 % 2 6
& 2 4
5
4 #5 4
4# 2 # 4 !
4 2 % 4
4 2 *
/ 5 ) 5
4 4 #
4 *
F 6 #
F * Si 4 F ∪Si
4 Si∩Sj Φ P ! %
* 6 2
P Si $ Si !+%
P Si∪Sj 4 Sj
2 2 HSV #
2 4
* ! 2 % ! %
& + # 3 ? * 19 2
5
% " &
4 4 #
6 83 839 83 ./
#
2 ! 2
, * Pc .
5 4 ) 5
9 ) * . !.
% 3
Pc Spatch △
$ pij∈Spatch 4 2 !;%
H pij ǫ H −δH, H δH
4 pij 6 Spatch H . 8#2 ! 4 o
o% 839 6 H 8#2
2 δH
2 2
& δH 6
8#2 2
% % &
? 2
8 4 * ;"# *
5 ) !4 %
Pe SlineEstretch △
$ pij ∈SlineEstretch !F%
4 SlineEstretch≡SHough
4 SlineEstretch 6 4 SHough 4
6 8 7
% ' ( $
8 4
? ! 2 ;(('% &
# 4 # 2 4
7 2
8
y −
θ x
r
θ !>%
4 r θ 4 r
θ 2 3
r, θ ? xi, yi
x#y ? r , θ
r#θ
5
) 6 2
2 7 )
& 6 8 #
2 6 4
2 4 6
r, θ 2 4
2 4 4 6
4 * #
4 2 5
6 5 6
! 6 % * =
& bi bi pj ni ni 2
ni 6 pj 2
bi pj ni→SHough {pj} !G%
i ...Nbi pj i ...Nni→SHough≡SlineEstretch
4 N 4 * 2 2
2
!& 2 ;(('%
'
$ 4 4 2
! % 2 2
& ; 4
& + α xL
2 ! 4 %
) C ./
A H S 2
V 4 7
4 7 ?
2
2 6 #
4 $" 4 7 #
2
)
&
*
/ 2
* ! 2 % 2 4 4
$" 5
5 2 4
2 4
4 6 2 4
4 ,
2 7
) " + &
& 2 #
xL, α ) 1
! % 2 2
2 3
7 2 2
! & F%
Input frame
Color Separation RGB to HSV
Binariza-tion
Gray scale
Position Estimation
H S V
Binariza-tion
Binariza-tion
Gaussian Filter
Canny edge Detector
Pixel-wise AND Operation
Hough Transform
Shape attributes
Color attributes
Pattern recognition Color patch
& ; 9 # 3
4 < εp
α −α xL −xL ≤δp εp !H%
εp ,
4 δp #2 δp 4
4 = |α −α | ≤ o |x
L −xL | ≤
6
8 2 bi #
5 r , θ r , θ 2
r −r θ −θ ≤δp εp !I%
εp ,
4 εp ,
δp δp 4
4 = |r −r | ≤ 6 |θ −θ | ≤ o ,
8 2 2 ! %
4
6 G
& F # 7 4 ε
) % # &
2 < εp
4
* , 4 4
8
2 2 2
* 2 2 2 9 ! 839
% 6 #4 $" 2
4 5 2
2 2 6 7
α xL
4 6
7 V 4
P
V P εp !'%
n
V bi pj 4
SHough {pj} SHough≡SlineEstretch,
4 P . 2 P 6
εp n 6 6
,
6 7 6
V 6 7
*
) ' # ,$
$ 4 2 )
& >
εp εp 2
V ? δV F(J
4
5 ni 2 εp
!I% # 4 ? δV
6 7 ni 4 6
4 ? δV
4 5
6 4 #
Initial Patch Input frame
Color Separation RGB to HSV
Binariza-tion
Bin checkings
Generation of the performance error
Tracking memory
Threshold Adjustment
H S V
Drop of the external luminance Binariza-tion Binariza-tion I Hough Transform Tangent line estimated
maxni
YES NO p=1 Color Segmentation Algorithm Edge Segmentation Algorithm
& > #
-
.&
$
& 2 6 *
4 ! 5 % 4 <
4 5 4 )
5 4
5 6 5 4 6
4 2 ? 4
2 4
4 5 2
5 6
, 2 4 2
4 6 4 5 ,
2 5
2 4 *6 ! %
2 4
, 4 & G 4 2
εp 4 2 4
& H 4 4
2 2
2 F
4 7 #
2 4 2
0 20 40 60 80 100 120
failure success
Adaptive Sensor
0 20 40 60 80 100 120
failure success
Fixed-parameter Sensor
frames
& G # 2 2 ! %
*6 # ! %
Line to be tracked
previous line FP
sensor
A sensor
Spurious line
Line to be
tracked previous line
FP sensor
A sensor
Spurious line
Line to be tracked
previous line
A sensor
& H # 9 5 A 4 . A 4
* ! %
* ! * 4% 4 *
4 6 2
εp 4 2
! 4 % 4 *6 #
! % 4 4 4
2 8 *6
4
& I 4 6 #4 $" ! & ;%
& I # " ) A *6 # !&C%
. A 2 ! %
4 * 4 ) 4
4 4 *
4 4 )
*6 # ? = 4
2 4 4
) *6 # ?
8 4 2 6 =
2 4 4
& 7 2 & '
4
2 + ! % =
2 6 2
9# = 2 2
; 4 !2 %
2 2
F 5 2 ?
4
4 * 4 6
2
/
$
4 5 2 # 2 4 2 #
5 4 3 2 6 2 4
6 #4 $" 7 #
839 # 4
* : 3
2 2 #
6 7
8 2 *
5
Initial patch Frame 1
Frame 2 Frame 3
& ' # 8 839
A 8# A 3# A 9#
0
+ 2 " !;(('% K. 2 4 8 4 #
8 2 K . .HHF
;((' 1 2
; 8 " @ L 3 , !;((+% K A
2 K C . F> !+;%
F & & 2 !;(('% K. #
2 8 2 K C . 9 >+
+ ;((' C ;MMNF+>
> 8 . !;(++% #
? 33"O;(++ ;(++ +#H
G 8 3 !;(+(% C 5
1 4 9 $ 2 # # 2 / C
2 9 3 13
H 4 8 @ & @ P !;((>% 3 & 3 #
1 6 C #
9 ;H $ M
I 3 / 3 5 / !;((+% Q 9 R ;IM#F;G $ 4
C #8 3 $ (#+F#(F(IMH#F
' 37 5 . !;(+(% 9 A 3 F ;(+(
