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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)
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
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码928-933
收录类别EI ; CPCI(ISTP)
EI收录号20152600977129
WOS记录号WOS:000393066200164
产权排序3
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
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被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16932
专题机器人学研究室
作者单位1.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
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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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