Obstacle detection for unmanned ground vehicle on uneven and dusty environment

Tok Son Choe, Jin Bae Park, Sang Hyun Joo, Yong Woon Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An obstacle detection method for unmanned ground vehicle in outdoor environment is proposed. The proposed method uses range data acquired by laser range finders (LRFs) and FMCW radars. LRFs and FMCW radars are used for distinguishing ground and obstacles on uneven terrain, and for detecting obstacles in dusty environment. The proposed obstacle detection algorithm is broadly composed of three steps: 1) 1D virtual range data generation which ground information is removed by range data of LRFs, 2) 1D virtual range data generation acquired by fusion of multiple FMCW radars, 3) 1D virtual range data generation which dust information is removed by fusion of step 1) and step 2). The proposed method is verified by real experiments.

Original languageEnglish
Title of host publicationSignal Processing, Sensor/Information Fusion, and Target Recognition XXIV
EditorsIvan Kadar
PublisherSPIE
ISBN (Electronic)9781628415902
DOIs
Publication statusPublished - 2015 Jan 1
EventSignal Processing, Sensor/Information Fusion, and Target Recognition XXIV - Baltimore, United States
Duration: 2015 Apr 202015 Apr 22

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume9474
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Other

OtherSignal Processing, Sensor/Information Fusion, and Target Recognition XXIV
CountryUnited States
CityBaltimore
Period15/4/2015/4/22

Fingerprint

unmanned ground vehicles
Unmanned Ground Vehicle
Obstacle Detection
Unmanned vehicles
Range finders
Ground vehicles
laser range finders
Laser Range Finder
Lasers
Fusion reactions
Range of data
fusion
Fusion
Dust
dust
Experiments
Experiment

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

Choe, T. S., Park, J. B., Joo, S. H., & Park, Y. W. (2015). Obstacle detection for unmanned ground vehicle on uneven and dusty environment. In I. Kadar (Ed.), Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV [94741D] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9474). SPIE. https://doi.org/10.1117/12.2176041
Choe, Tok Son ; Park, Jin Bae ; Joo, Sang Hyun ; Park, Yong Woon. / Obstacle detection for unmanned ground vehicle on uneven and dusty environment. Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV. editor / Ivan Kadar. SPIE, 2015. (Proceedings of SPIE - The International Society for Optical Engineering).
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Choe, TS, Park, JB, Joo, SH & Park, YW 2015, Obstacle detection for unmanned ground vehicle on uneven and dusty environment. in I Kadar (ed.), Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV., 94741D, Proceedings of SPIE - The International Society for Optical Engineering, vol. 9474, SPIE, Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV, Baltimore, United States, 15/4/20. https://doi.org/10.1117/12.2176041

Obstacle detection for unmanned ground vehicle on uneven and dusty environment. / Choe, Tok Son; Park, Jin Bae; Joo, Sang Hyun; Park, Yong Woon.

Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV. ed. / Ivan Kadar. SPIE, 2015. 94741D (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9474).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Choe TS, Park JB, Joo SH, Park YW. Obstacle detection for unmanned ground vehicle on uneven and dusty environment. In Kadar I, editor, Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV. SPIE. 2015. 94741D. (Proceedings of SPIE - The International Society for Optical Engineering). https://doi.org/10.1117/12.2176041