Obstacle Detection in Hybrid Cross-Country Environment Based on Markov Random Field for Unmanned Ground Vehicle
Joint Authors
Ding, Feng
Zhao, Yibing
Guo, Lie
Zhang, Mingheng
Li, Linhui
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-01-14
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
In order to detect the obstacle from the large amount of 3D LIDAR data in hybrid cross-country environment for unmanned ground vehicle, a new graph approach based on Markov random field was presented.
Firstly, the preprocessing method based on the maximum blurred line is applied to segment the projection of every laser scan line in x-y plane.
Then, based on K-means clustering algorithm, the same properties of the line are combined.
Secondly, line segment nodes are precisely positioned by using corner detection method, and the next step is to take advantage of line segment nodes to build an undirected graph for Markov random field.
Lastly, the energy function is calculated by means of analyzing line segment features and solved by graph cut.
Two types of line mark are finally classified into two categories: ground and obstacle.
Experiments prove the feasibility of the approach and show that it has better performance and runs in real time.
American Psychological Association (APA)
Ding, Feng& Zhao, Yibing& Guo, Lie& Zhang, Mingheng& Li, Linhui. 2015. Obstacle Detection in Hybrid Cross-Country Environment Based on Markov Random Field for Unmanned Ground Vehicle. Discrete Dynamics in Nature and Society،Vol. 2015, no. 2015, pp.1-8.
https://search.emarefa.net/detail/BIM-1060545
Modern Language Association (MLA)
Ding, Feng…[et al.]. Obstacle Detection in Hybrid Cross-Country Environment Based on Markov Random Field for Unmanned Ground Vehicle. Discrete Dynamics in Nature and Society No. 2015 (2015), pp.1-8.
https://search.emarefa.net/detail/BIM-1060545
American Medical Association (AMA)
Ding, Feng& Zhao, Yibing& Guo, Lie& Zhang, Mingheng& Li, Linhui. Obstacle Detection in Hybrid Cross-Country Environment Based on Markov Random Field for Unmanned Ground Vehicle. Discrete Dynamics in Nature and Society. 2015. Vol. 2015, no. 2015, pp.1-8.
https://search.emarefa.net/detail/BIM-1060545
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1060545