{"id":{"repo_id":"ucf","oai_identifier":"oai:stars.library.ucf.edu:etd-1997"},"canonical_url":"https://search.dev.ndltd.org/etd/ucf/oai:stars.library.ucf.edu:etd-1997","repository":{"repo_id":"ucf","name":"Central Florida","base_url":"https://stars.library.ucf.edu/do/oai/"},"display":{"title":"Automated Visual Database Creation For A Ground Vehicle Simulator","abstract":"This research focuses on extracting road models from stereo video sequences taken from a moving vehicle. The proposed method combines color histogram based segmentation, active contours (snakes) and morphological processing to extract road boundary coordinates for conversion into Matlab or Multigen OpenFlight compatible polygonal representations. Color segmentation uses an initial truth frame to develop a color probability density function (PDF) of the road versus the terrain. Subsequent frames are segmented using a Maximum Apostiori Probability (MAP) criteria and the resulting templates are used to update the PDFs. 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