Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR
The next phase of unmanned ground vehicle (UGV) development, the Demo III programme, aims to enable round-the-clock operation with autonomous, cross-country navigation at speeds up to 40 mph on roads, 20 mph by day off road, and 10 mph by night off road. This paper reviews the obstacle sizes that mu...
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| creator | Matthies, L. Litwin, T. Owens, K. Rankin, A. Murphy, K. Coombs, D. Gilsinn, J. Tsai hong Legowik, S. Nashman, M. Yoshimi, B. |
| description | The next phase of unmanned ground vehicle (UGV) development, the Demo III programme, aims to enable round-the-clock operation with autonomous, cross-country navigation at speeds up to 40 mph on roads, 20 mph by day off road, and 10 mph by night off road. This paper reviews the obstacle sizes that must be detected and lookahead distances that are required to support such driving speeds, and describes data collection and performance evaluation efforts with three different range imaging systems: 1) stereo vision with CCD cameras, 2) stereo vision with InSb FLIR cameras operating in the 3-5 /spl mu/m band, and 3) the Dornier EBK LADAR. The LADAR and the FLIR stereo are applicable to day and night operation; the CCD stereo to day operation only. This paper describes the data set and preliminary obstacle detection results obtained. Ongoing performance evaluation with this data set will guide obstacle detection sensor selection and development for the Demo III Programme. |
| doi_str_mv | 10.1109/ISIC.1998.713790 |
| format | Conference Proceeding |
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Ongoing performance evaluation with this data set will guide obstacle detection sensor selection and development for the Demo III Programme.</description><subject>Charge coupled devices</subject><subject>Charge-coupled image sensors</subject><subject>Laboratories</subject><subject>Land vehicles</subject><subject>Laser radar</subject><subject>Mobile robots</subject><subject>Navigation</subject><subject>Remotely operated vehicles</subject><subject>Road vehicles</subject><subject>Stereo vision</subject><issn>2158-9860</issn><issn>2158-9879</issn><isbn>0780344235</isbn><isbn>9780780344235</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1998</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kF1LwzAYhYMf4Jy7F6_yB9olTfN1WTo3CwVlut2ONHmDla6VJk78904nnptz8cAD5yB0S0lKKdHz6rkqU6q1SiVlUpMzNMkoV4lWUp-jayIVYXmeMX7xDwS5QrMQ3sgxOVOKqwnaPsHoh3FvegsYDqb7MLEdejx4vFlt8dCEaGwH2EEE-0s-2_iKy3IxX9bVGocIIwz40IYfZnqH62JRrG_QpTddgNlfT9Fmef9SPiT146oqizppKcljIoFLpyWTVgjioKHaOJpRwz0w4b1yVjtJFGtAcMMUM9ZzIxQlnjX2OI5N0d3J2wLA7n1s92b82p0eYd-gIlH7</recordid><startdate>1998</startdate><enddate>1998</enddate><creator>Matthies, L.</creator><creator>Litwin, T.</creator><creator>Owens, K.</creator><creator>Rankin, A.</creator><creator>Murphy, K.</creator><creator>Coombs, D.</creator><creator>Gilsinn, J.</creator><creator>Tsai hong</creator><creator>Legowik, S.</creator><creator>Nashman, M.</creator><creator>Yoshimi, B.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>1998</creationdate><title>Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR</title><author>Matthies, L. ; Litwin, T. ; Owens, K. ; Rankin, A. ; Murphy, K. ; Coombs, D. ; Gilsinn, J. ; Tsai hong ; Legowik, S. ; Nashman, M. ; Yoshimi, B.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-7e57d9737c660deb19ad121a5fe36ff8dc9d7083be65a383acf5a6810f3bc4233</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1998</creationdate><topic>Charge coupled devices</topic><topic>Charge-coupled image sensors</topic><topic>Laboratories</topic><topic>Land vehicles</topic><topic>Laser radar</topic><topic>Mobile robots</topic><topic>Navigation</topic><topic>Remotely operated vehicles</topic><topic>Road vehicles</topic><topic>Stereo vision</topic><toplevel>online_resources</toplevel><creatorcontrib>Matthies, L.</creatorcontrib><creatorcontrib>Litwin, T.</creatorcontrib><creatorcontrib>Owens, K.</creatorcontrib><creatorcontrib>Rankin, A.</creatorcontrib><creatorcontrib>Murphy, K.</creatorcontrib><creatorcontrib>Coombs, D.</creatorcontrib><creatorcontrib>Gilsinn, J.</creatorcontrib><creatorcontrib>Tsai hong</creatorcontrib><creatorcontrib>Legowik, S.</creatorcontrib><creatorcontrib>Nashman, M.</creatorcontrib><creatorcontrib>Yoshimi, B.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Matthies, L.</au><au>Litwin, T.</au><au>Owens, K.</au><au>Rankin, A.</au><au>Murphy, K.</au><au>Coombs, D.</au><au>Gilsinn, J.</au><au>Tsai hong</au><au>Legowik, S.</au><au>Nashman, M.</au><au>Yoshimi, B.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR</atitle><btitle>Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell</btitle><stitle>ISIC</stitle><date>1998</date><risdate>1998</risdate><spage>658</spage><epage>670</epage><pages>658-670</pages><issn>2158-9860</issn><eissn>2158-9879</eissn><isbn>0780344235</isbn><isbn>9780780344235</isbn><abstract>The next phase of unmanned ground vehicle (UGV) development, the Demo III programme, aims to enable round-the-clock operation with autonomous, cross-country navigation at speeds up to 40 mph on roads, 20 mph by day off road, and 10 mph by night off road. This paper reviews the obstacle sizes that must be detected and lookahead distances that are required to support such driving speeds, and describes data collection and performance evaluation efforts with three different range imaging systems: 1) stereo vision with CCD cameras, 2) stereo vision with InSb FLIR cameras operating in the 3-5 /spl mu/m band, and 3) the Dornier EBK LADAR. The LADAR and the FLIR stereo are applicable to day and night operation; the CCD stereo to day operation only. This paper describes the data set and preliminary obstacle detection results obtained. Ongoing performance evaluation with this data set will guide obstacle detection sensor selection and development for the Demo III Programme.</abstract><pub>IEEE</pub><doi>10.1109/ISIC.1998.713790</doi><tpages>13</tpages></addata></record> |
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| identifier | ISSN: 2158-9860 |
| ispartof | Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell, 1998, p.658-670 |
| issn | 2158-9860 2158-9879 |
| language | eng |
| recordid | cdi_ieee_primary_713790 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Charge coupled devices Charge-coupled image sensors Laboratories Land vehicles Laser radar Mobile robots Navigation Remotely operated vehicles Road vehicles Stereo vision |
| title | Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR |
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