Online novelty-based visual obstacle detection for field robotics

2015 ◽  
Author(s):  
Patrick Ross ◽  
Andrew English ◽  
David Ball ◽  
Ben Upcroft ◽  
Peter Corke
Keyword(s):  
Obstacle Detection ◽  
Field Robotics

scholarly journals A feature matching and fusion-based positive obstacle detection algorithm for field autonomous land vehicles

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769251 ◽  
Author(s):  
Tao Wu ◽  
Huihai Cui ◽  
Yan Li ◽  
Wei Wang ◽  
Daxue Lui ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Feature Matching ◽  
Computing Time ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Land Vehicle ◽  
Land Vehicles ◽  
Field Robotics ◽  
Data Density ◽  
Scan Line

Positive obstacles will cause damage to field robotics during traveling in field. Field autonomous land vehicle is a typical field robotic. This article presents a feature matching and fusion-based algorithm to detect obstacles using LiDARs for field autonomous land vehicles. There are three main contributions: (1) A novel setup method of compact LiDAR is introduced. This method improved the LiDAR data density and reduced the blind region of the LiDAR sensor. (2) A mathematical model is deduced under this new setup method. The ideal scan line is generated by using the deduced mathematical model. (3) Based on the proposed mathematical model, a feature matching and fusion (FMAF)-based algorithm is presented in this article, which is employed to detect obstacles. Experimental results show that the performance of the proposed algorithm is robust and stable, and the computing time is reduced by an order of two magnitudes by comparing with other exited algorithms. This algorithm has been perfectly applied to our autonomous land vehicle, which has won the champion in the challenge of Chinese “Overcome Danger 2014” ground unmanned vehicle.

Subtraction-Based General Forward Obstacle Detection from In-Vehicle Camera Images using Extended Census Transform

2016 ◽  
Vol 136 (4) ◽  
pp. 588-589
Author(s):  
Haruya Kyutoku ◽  
Daisuke Deguchi ◽  
Tomokazu Takahashi ◽  
Yoshito Mekada ◽  
Ichiro Ide ◽  
...  
Keyword(s):  
Obstacle Detection ◽  
Census Transform

Integration of advanced stereo obstacle detection with perspectively correct surround views

2019 ◽  
Vol 2019 (15) ◽  
pp. 32-1-32-10
Author(s):  
Christian Fuchs ◽  
Dietrich Paulus
Keyword(s):  
Obstacle Detection

V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain

2010 ◽  
Vol 36 (5) ◽  
pp. 667-673 ◽  
Author(s):  
Yang CONG ◽  
Jun-Jian PENG ◽  
Jing SUN ◽  
Lin-Lin ZHU ◽  
Yan-Dong TANG
Keyword(s):  
Obstacle Detection
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