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Proceedings Paper

Detecting personnel around UGVs using stereo vision
Author(s): Max Bajracharya; Baback Moghaddam; Andrew Howard; Larry H. Matthies
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Paper Abstract

Detecting people around unmanned ground vehicles (UGVs) to facilitate safe operation of UGVs is one of the highest priority issues in the development of perception technology for autonomous navigation. Research to date has not achieved the detection ranges or reliability needed in deployed systems to detect upright pedestrians in flat, relatively uncluttered terrain, let alone in more complex environments and with people in postures that are more difficult to detect. Range data is essential to solve this problem. Combining range data with high resolution imagery may enable higher performance than range data alone because image appearance can complement shape information in range data and because cameras may offer higher angular resolution than typical range sensors. This makes stereo vision a promising approach for several reasons: image resolution is high and will continue to increase, the physical size and power dissipation of the cameras and computers will continue to decrease, and stereo cameras provide range data and imagery that are automatically spatially and temporally registered. We describe a stereo vision-based pedestrian detection system, focusing on recent improvements to a shape-based classifier applied to the range data, and present frame-level performance results that show great promise for the overall approach.

Paper Details

Date Published: 16 April 2008
PDF: 13 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 696202 (16 April 2008); doi: 10.1117/12.782210
Show Author Affiliations
Max Bajracharya, Jet Propulsion Lab. (United States)
Baback Moghaddam, Jet Propulsion Lab. (United States)
Andrew Howard, Jet Propulsion Lab. (United States)
Larry H. Matthies, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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