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.
|Title of host publication||Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV|
|Publication status||Published - 2015|
|Event||Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV - Baltimore, United States|
Duration: 2015 Apr 20 → 2015 Apr 22
|Name||Proceedings of SPIE - The International Society for Optical Engineering|
|Other||Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV|
|Period||15/4/20 → 15/4/22|
Bibliographical notePublisher Copyright:
© 2015 SPIE.
All Science Journal Classification (ASJC) codes
- Electronic, Optical and Magnetic Materials
- Condensed Matter Physics
- Computer Science Applications
- Applied Mathematics
- Electrical and Electronic Engineering