Title :
Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR
Author :
Matthies, Larry ; Litwin, Todd ; Owens, Ken ; Rankin, Art ; Murphy, Karl ; Coombs, David ; Gilsinn, Jim ; Hong, Tsai ; Legowik, Steven ; Nashman, Marilyn ; Yoshimi, Billibon
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
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 μm 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
Keywords :
collision avoidance; computer vision; military equipment; mobile robots; navigation; optical radar; stereo image processing; vehicles; 10 mph; 20 mph; 3 to 5 micron; 40 mph; CCD cameras; Demo III; FLIR stereo vision; LADAR; autonomous navigation; mobile robots; obstacle detection; path planning; performance evaluation; unmanned ground vehicle; Charge coupled devices; Charge-coupled image sensors; Laboratories; Land vehicles; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; Stereo vision;
Conference_Titel :
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Conference_Location :
Gaithersburg, MD
Print_ISBN :
0-7803-4423-5
DOI :
10.1109/ISIC.1998.713790
