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Real-time road detection and description for robot navigation in an unstructured campus environment
Xu, Wenhao; Zhuang Y(庄严); Hu, Huosheng; Zhao YW(赵忆文)
Department机器人学研究室
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages928-933
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600977129
WOS IDWOS:000393066200164
Contribution Rank3
ISBN978-1-4799-5825-2
KeywordRoad Detection Unstructured Road Describing Laser-vision Data Fusion Ransac Spline Fitting Field Robotics
AbstractThis paper investigates real-time road detection for an unmanned ground vehicle (UGV) to navigate in a campus environment. A novel vision system with two monocular cameras at different heights and angles is utilized to accomplish both road region detection and direction estimation tasks simultaneously. An Adaboost-based classifier is used in the road region detection in order to handle the road surface's diversity, and a vanishing point tracking technique is used to estimate the road direction. To describe the unstructured road spaces with an accurate model, a RANSAC Spline Fitting algorithm is adopted to delineate the road borders based on the data fusion results from vision and lasers. Extensive experiments are carried out by using a real UGV platform in a campus environment and results show the feasibility and performance of the proposed approach.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16932
Collection机器人学研究室
Affiliation1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, United Kingdom
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Xu, Wenhao,Zhuang Y,Hu, Huosheng,et al. Real-time road detection and description for robot navigation in an unstructured campus environment[C]. Piscataway, NJ, USA:IEEE,2014:928-933.
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