Real-time road detection and description for robot navigation in an unstructured campus environment
文献类型：会议论文
| 作者 | Xu, Wenhao; Zhuang Y(庄严); Hu, Huosheng; Zhao YW(赵忆文)
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| 出版日期 | 2014 |
| 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 |
| 关键词 | road detection unstructured road describing laser-vision data fusion RANSAC spline fitting field robotics |
| 页码 | 928-933 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 3 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| 源URL | [http://ir.sia.cn/handle/173321/16932]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 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]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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