Obstacle classification and 3D measurement in unstructured environments based on ToF cameras
文献类型：期刊论文
| 作者 | Yu HS(余洪山); Zhu J(朱江); Wang YN(王耀南); Jia, Wenyan; Sun, Mingui; Tang YD(唐延东)
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| 刊名 | SENSORS
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| 出版日期 | 2014 |
| 卷号 | 14期号:6页码:10753-10782 |
| 关键词 | Mobile Robotic Navigation Obstacle Detection And Classification Time-of-flight Camera Region Of Interest Detection Unstructured Environment Perception |
| ISSN号 | 1424-8220 |
| 产权排序 | 1 |
| 英文摘要 | Inspired by the human 3D visual perception system, we present an obstacle detection and classification method based on the use of Time-of-Flight (ToF) cameras for robotic navigation in unstructured environments. The ToF camera provides 3D sensing by capturing an image along with per-pixel 3D space information. Based on this valuable feature and human knowledge of navigation, the proposed method first removes irrelevant regions which do not affect robot's movement from the scene. In the second step, regions of interest are detected and clustered as possible obstacles using both 3D information and intensity image obtained by the ToF camera. Consequently, a multiple relevance vector machine (RVM) classifier is designed to classify obstacles into four possible classes based on the terrain traversability and geometrical features of the obstacles. Finally, experimental results in various unstructured environments are presented to verify the robustness and performance of the proposed approach. We have found that, compared with the existing obstacle recognition methods, the new approach is more accurate and efficient. |
| WOS关键词 | TERRAIN CLASSIFICATION ; OUTDOOR ENVIRONMENTS ; ROVER NAVIGATION ; NATURAL TERRAIN ; EXPLORATION ; ROBOT ; SEGMENTATION ; VISION ; SYSTEM ; ONLINE |
| WOS研究方向 | Chemistry ; Electrochemistry ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000338635600070 |
| 公开日期 | 2014-11-03 |
| 源URL | [http://ir.sia.cn/handle/173321/15262]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Yu HS(余洪山) |
| 作者单位 | 1.3 State Key Laboratory of Robotics, Shenyang 110016, China 2.2 Laboratory for Computational Neuroscience, University of Pittsburgh, Pittsburgh, PA 15213, United States 3.College of Electrical and Information Engineering, Hunan University, Changsha 410082, China 4.4 College of Information Engineering, Xiangtan University, Xiangtan 411105, China |
| 推荐引用方式 GB/T 7714 | Yu HS,Zhu J,Wang YN,et al. Obstacle classification and 3D measurement in unstructured environments based on ToF cameras[J]. SENSORS,2014,14(6):10753-10782. |
| APA | Yu HS,Zhu J,Wang YN,Jia, Wenyan,Sun, Mingui,&Tang YD.(2014).Obstacle classification and 3D measurement in unstructured environments based on ToF cameras.SENSORS,14(6),10753-10782. |
| MLA | Yu HS,et al."Obstacle classification and 3D measurement in unstructured environments based on ToF cameras".SENSORS 14.6(2014):10753-10782. |
入库方式： OAI收割
来源：沈阳自动化研究所
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