کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
694469 890133 2010 7 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain
چکیده انگلیسی

This paper presents a fast obstacle detection system based on stereo vision for unmanned ground vehicle (UGV) navigation in unstructured environment. In order to make the UGV adaptable to more complex terrains, we propose a new estimation method of the main ground disparity (MGD) from the V-disparity images. Then, by comparing the disparity of the MGD with local 3D reconstruction, a coarse-to-fine method to find and localize obstacles is introduced in the paper. The obstacle detection system is tested practically on our UGV platform in some outdoor unstructured environments. The experimental results validate the efficacy of our system.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Automatica Sinica - Volume 36, Issue 5, May 2010, Pages 667-673