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Obstacle classification and 3D measurement in unstructured environments based on ToF cameras
Yu HS(余洪山); Zhu J(朱江); Wang YN(王耀南); Jia, Wenyan; Sun, Mingui; Tang YD(唐延东)
Department机器人学研究室
Source PublicationSensors (Switzerland)
ISSN1424-8220
2014
Volume14Issue:6Pages:10753-10782
Indexed BySCI ; EI
EI Accession number20142617877843
WOS IDWOS:000338635600070
Contribution Rank1
KeywordMobile Robotic Navigation Obstacle Detection And Classification Time-of-flight Camera Region Of Interest Detection Unstructured Environment Perception
AbstractInspired by the human 3D visual perception system, we present an obstacle detection and classification method based on the use of Time-of-Flight (ToF) cameras for robotic navigation in unstructured environments. The ToF camera provides 3D sensing by capturing an image along with per-pixel 3D space information. Based on this valuable feature and human knowledge of navigation, the proposed method first removes irrelevant regions which do not affect robot's movement from the scene. In the second step, regions of interest are detected and clustered as possible obstacles using both 3D information and intensity image obtained by the ToF camera. Consequently, a multiple relevance vector machine (RVM) classifier is designed to classify obstacles into four possible classes based on the terrain traversability and geometrical features of the obstacles. Finally, experimental results in various unstructured environments are presented to verify the robustness and performance of the proposed approach. We have found that, compared with the existing obstacle recognition methods, the new approach is more accurate and efficient.
Language英语
WOS SubjectChemistry, Analytical ; Electrochemistry ; Instruments & Instrumentation
WOS KeywordTERRAIN CLASSIFICATION ; OUTDOOR ENVIRONMENTS ; ROVER NAVIGATION ; NATURAL TERRAIN ; EXPLORATION ; ROBOT ; SEGMENTATION ; VISION ; SYSTEM ; ONLINE
WOS Research AreaChemistry ; Electrochemistry ; Instruments & Instrumentation
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15262
Collection机器人学研究室
Corresponding AuthorYu HS(余洪山)
Affiliation1.College of Electrical and Information Engineering, Hunan University, Changsha 410082, China
2.2 Laboratory for Computational Neuroscience, University of Pittsburgh, Pittsburgh, PA 15213, United States
3.3 State Key Laboratory of Robotics, Shenyang 110016, China
4.4 College of Information Engineering, Xiangtan University, Xiangtan 411105, China
Recommended Citation
GB/T 7714
Yu HS,Zhu J,Wang YN,et al. Obstacle classification and 3D measurement in unstructured environments based on ToF cameras[J]. Sensors (Switzerland),2014,14(6):10753-10782.
APA Yu HS,Zhu J,Wang YN,Jia, Wenyan,Sun, Mingui,&Tang YD.(2014).Obstacle classification and 3D measurement in unstructured environments based on ToF cameras.Sensors (Switzerland),14(6),10753-10782.
MLA Yu HS,et al."Obstacle classification and 3D measurement in unstructured environments based on ToF cameras".Sensors (Switzerland) 14.6(2014):10753-10782.
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