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A perception pipeline for expeditionary autonomous ground vehicles
Author(s): Josh Zapf; Gaurav Ahuja; Jeremie Papon; Daren Lee; Jeremy Nash; Arturo Rankin
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Paper Abstract

Expeditionary environments create special challenges for perception systems in autonomous ground vehicles. To address these challenges, a perception pipeline has been developed that fuses data from multiple sensors (color, thermal, LIDAR) with different sensing modalities and spatial resolutions. The paper begins with in-depth discussion of the multi-sensor calibration procedure. It then follows the flow of data through the perception pipeline, detailing the process by which the sensor data is combined in the world model representation. Topics of interest include stereo filtering, stereo and LIDAR ground segmentation, pixel classification, 3D occupancy grid aggregation, and costmap generation

Paper Details

Date Published: 5 May 2017
PDF: 20 pages
Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950F (5 May 2017); doi: 10.1117/12.2266690
Show Author Affiliations
Josh Zapf, SPAWAR Systems Ctr. Pacific (United States)
Gaurav Ahuja, SPAWAR Systems Ctr. Pacific (United States)
Jeremie Papon, Jet Propulsion Lab. (United States)
Daren Lee, Jet Propulsion Lab. (United States)
Jeremy Nash, Jet Propulsion Lab. (United States)
Arturo Rankin, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 10195:
Unmanned Systems Technology XIX
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen, Editor(s)

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