V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain

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	V-disparity Based UGV Obstacle Detection in Rough Outdoor Terrain
	Cong Y(丛杨); Peng JJ(彭军舰); Sun J(孙静); Zhu LL(朱琳琳); Tan DL(谈大龙); Tang YD(唐延东)
刊名	自动化学报
	2010
卷号	36 期号:5 页码:667-673
关键词	Main ground disparity (MGD) V-disparity image obstacle detection unmanned ground vehicle (UGV) outdoor unstructured environment
ISSN号	0254-4156
其他题名	室外崎岖地形下基于视差图的无人自主车障碍物识别
产权排序	1
中文摘要	This 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.
收录类别	EI ; CSCD
资助信息	Supported by National Natural Science Foundation of China(60835004, 60871078)
语种	英语
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7421]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Tang YD(唐延东)
推荐引用方式 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,Tan DL,&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.