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IROS
2009
IEEE

Appearance contrast for fast, robust trail-following

9 years 9 months ago
Appearance contrast for fast, robust trail-following
— We describe a framework for finding and tracking “trails” for autonomous outdoor robot navigation. Through a combination of visual cues and ladar-derived structural information, the algorithm is able to follow paths which pass through multiple zones of terrain smoothness, border vegetation, tread material, and illumination conditions. Our shape-based visual trail tracker assumes that the approaching trail region is approximately triangular under perspective. It generates region hypotheses from a learned distribution of expected trail width and curvature variation, and scores them using a robust measure of color and brightness contrast with flanking regions. The structural component analogously rewards hypotheses which correspond to empty or low-density regions in a groundstrike-filtered ladar obstacle map. Our system’s performance is analyzed on several long sequences with diverse appearance and structural characteristics. Ground-truth segmentations are used to quantify pe...
Christopher Rasmussen, Yan Lu, Mehmet Kocamaz
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Christopher Rasmussen, Yan Lu, Mehmet Kocamaz
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