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V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain
Alternative Title室外崎岖地形下基于视差图的无人自主车障碍物识别
Cong Y(丛杨); Peng JJ(彭军舰); Sun J(孙静); Zhu LL(朱琳琳); Tang YD(唐延东)
Department机器人学研究室
Source Publication自动化学报
ISSN0254-4156
2010
Volume36Issue:5Pages:667-673
Indexed ByEI ; CSCD
EI Accession number20102513030767
CSCD IDCSCD:3957163
Contribution Rank1
Funding OrganizationSupported by National Natural Science Foundation of China(60835004, 60871078)
KeywordMain Ground Disparity (Mgd) V-disparity Image Obstacle Detection Unmanned Ground Vehicle (Ugv) Outdoor Unstructured Environment
AbstractThis 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 effcacy of our system.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7421
Collection机器人学研究室
Corresponding AuthorTang YD(唐延东)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Cong Y,Peng JJ,Sun J,et al. V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain[J]. 自动化学报,2010,36(5):667-673.
APA Cong Y,Peng JJ,Sun J,Zhu LL,&Tang YD.(2010).V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain.自动化学报,36(5),667-673.
MLA Cong Y,et al."V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain".自动化学报 36.5(2010):667-673.
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