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Real-time road detection and description for robot navigation in an unstructured campus environment

Xu, W and Zhuang, Y and Hu, H and Zhao, Y (2015) Real-time road detection and description for robot navigation in an unstructured campus environment. In: UNSPECIFIED, ? - ?.

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Abstract

© 2014 IEEE. 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.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 23 Jul 2015 11:15
Last Modified: 30 Oct 2019 00:15
URI: http://repository.essex.ac.uk/id/eprint/14422

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