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Proceedings Paper

Obstacle detection for unmanned ground vehicle on uneven and dusty environment
Author(s): Tok Son Choe; Jin Bae Park; Sang Hyun Joo; Yong Woon Park
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Paper 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.

Paper Details

Date Published: 21 May 2015
PDF: 8 pages
Proc. SPIE 9474, Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV, 94741D (21 May 2015); doi: 10.1117/12.2176041
Show Author Affiliations
Tok Son Choe, Yonsei Univ. (Korea, Republic of)
Jin Bae Park, Yonsei Univ. (Korea, Republic of)
Sang Hyun Joo, Agency for Defense Development (Korea, Republic of)
Yong Woon Park, Agency for Defense Development (Korea, Republic of)


Published in SPIE Proceedings Vol. 9474:
Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV
Ivan Kadar, Editor(s)

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