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题名: Real-time road detection and description for robot navigation in an unstructured campus environment
作者: Xu, Wenhao; Zhuang Y(庄严); Hu, Huosheng; Zhao YW(赵忆文)
作者部门: 机器人学研究室
会议名称: 11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期: June 29 - July 4, 2014
会议地点: Shenyang, China
会议录: Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 928-933
收录类别: EI
ISBN号: 978-1-4799-5825-2
关键词: road detection ; unstructured road describing ; laser-vision data fusion ; RANSAC spline fitting ; field robotics
摘要: This 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.
语种: 英语
产权排序: 3
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16932
Appears in Collections:机器人学研究室_会议论文

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