Share Email Print

Proceedings Paper

Detection, tracking, and avoidance of moving objects from a moving autonomous vehicle
Author(s): Elias J. Rigas; Barry Bodt; Richard Camden
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

ARL is developing the autonomous capability to directly support the Army's future requirements to employ unmanned systems. The purpose of this paper is to document and benchmark the current ARL Collaborative Technology Alliance (CTA) capabilities in detecting, tracking and avoiding moving humans and vehicles from a moving unmanned vehicle. For this experiment ARL and General Dynamics Robotic Systems (GDRS) conducted an experiment involving an ARL eXperimental Unmanned Vehicle (XUV) operating in proximity to a number of stationary and moving human surrogates (mannequins) and moving vehicles. In addition there were other objects along the XUV route of the experiment such as barrels, fire hydrants, poles, cones, and other clutter. The experiment examined the performance of seven algorithms using a series of sensor modalities to detect stationary and moving objects. Three of the algorithms showed promise, detecting human surrogates and vehicles with probabilities ranging from 0.64 to 0.85, while limiting probability of misclassification to 0.14 to 0.37. Moving mannequins were detected with slightly higher probabilities than fixed mannequins. The distance from the ground truth at the time of detection suggests that at a speed of 20 kph with a minimum distance to detection of 19.38 m, the vehicle would have a minimum of 3.5 seconds to avoid a mannequin or vehicle if detected by one of these three algorithms. Among mannequins and vehicles and, mannequins were more frequently detected than vehicles.

Paper Details

Date Published: 2 May 2007
PDF: 12 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 656106 (2 May 2007); doi: 10.1117/12.718801
Show Author Affiliations
Elias J. Rigas, Army Research Lab. (United States)
Barry Bodt, Army Research Lab. (United States)
Richard Camden, L3 Services Group (United States)

Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

© SPIE. Terms of Use
Back to Top