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论文类型：会议论文

发表时间：2014-01-01

收录刊物：CPCI-S

页面范围：928-933

关键字：road detection; unstructured road describing; laser-vision data fusion; RANSAC spline fitting; field robotics

摘要：This paper investigates real-time road detection for an unmanned ground vehicle (UGV) to navigate in a campus environment. A novel vision system with two monocular cameras at different heights and angles is utilized to accomplish both road region detection and direction estimation tasks simultaneously. An Adaboost-based classifier is used in the road region detection in order to handle the road surface's diversity, and a vanishing point tracking technique is used to estimate the road direction. To describe the unstructured road spaces with an accurate model, a RANSAC Spline Fitting algorithm is adopted to delineate the road borders based on the data fusion results from vision and lasers. Extensive experiments are carried out by using a real UGV platform in a campus environment and results show the feasibility and performance of the proposed approach.