Visual navigation of an autonomous vehicle along a line

Kohji Tomita, Satoshi Murata, Sadayuki Tsugawa, Elizabeth Stuck

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)


This paper describes an approach that enables an autonomous vehicle to drive along a line on the ground using machine vision. Our approach has two parts: the image processing that detects the line and the steering control responsible for following the line. The procedure for visual navigation has three steps. First, one-dimensional, horizontal differentiation of a live video image detects a line in the field of view. A series of points represents this line discretely. Next, the procedure finds the cubic curve fitting these points. Finally, a steering control algorithm, called the extended target point following algorithm, uses the cubic curve to visually navigate the autonomous vehicle along the line. We implemented this approach on a vehicle with onboard computers and conducted several experiments in which the vehicle drove autonomously along a line at speeds up to 0.15m/sec. The success of these experiments demonstrate the feasibility of the algorithm.

Original languageEnglish
Number of pages7
Publication statusPublished - 1992 Dec 1
Externally publishedYes
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15


OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2)
CitySan Francisco, CA, USA

ASJC Scopus subject areas

  • Engineering(all)


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