Obstacle detection for unmanned ground vehicle on uneven and dusty environment

Tok Son Choe; Jin Bae Park; Sang Hyun Joo; Yong Woon Park

doi:10.1117/12.2176041

Obstacle detection for unmanned ground vehicle on uneven and dusty environment

Tok Son Choe, Jin Bae Park, Sang Hyun Joo, Yong Woon Park

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

An obstacle detection method for unmanned ground vehicle in outdoor environment is proposed. The proposed method uses range data acquired by laser range finders (LRFs) and FMCW radars. LRFs and FMCW radars are used for distinguishing ground and obstacles on uneven terrain, and for detecting obstacles in dusty environment. The proposed obstacle detection algorithm is broadly composed of three steps: 1) 1D virtual range data generation which ground information is removed by range data of LRFs, 2) 1D virtual range data generation acquired by fusion of multiple FMCW radars, 3) 1D virtual range data generation which dust information is removed by fusion of step 1) and step 2). The proposed method is verified by real experiments.

Original language	English
Title of host publication	Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV
Editors	Ivan Kadar
Publisher	SPIE
ISBN (Electronic)	9781628415902
DOIs	https://doi.org/10.1117/12.2176041
Publication status	Published - 2015
Event	Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV - Baltimore, United States Duration: 2015 Apr 20 → 2015 Apr 22

Publication series

Name	Proceedings of SPIE - The International Society for Optical Engineering
Volume	9474
ISSN (Print)	0277-786X
ISSN (Electronic)	1996-756X

Other

Other	Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV
Country/Territory	United States
City	Baltimore
Period	15/4/20 → 15/4/22

Bibliographical note

Publisher Copyright:
© 2015 SPIE.

All Science Journal Classification (ASJC) codes

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Computer Science Applications
Applied Mathematics
Electrical and Electronic Engineering

Access to Document

10.1117/12.2176041

Cite this

Choe, T. S., Park, J. B., Joo, S. H., & Park, Y. W. (2015). Obstacle detection for unmanned ground vehicle on uneven and dusty environment. In I. Kadar (Ed.), Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV Article 94741D (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9474). SPIE. https://doi.org/10.1117/12.2176041

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title = "Obstacle detection for unmanned ground vehicle on uneven and dusty environment",

abstract = "An obstacle detection method for unmanned ground vehicle in outdoor environment is proposed. The proposed method uses range data acquired by laser range finders (LRFs) and FMCW radars. LRFs and FMCW radars are used for distinguishing ground and obstacles on uneven terrain, and for detecting obstacles in dusty environment. The proposed obstacle detection algorithm is broadly composed of three steps: 1) 1D virtual range data generation which ground information is removed by range data of LRFs, 2) 1D virtual range data generation acquired by fusion of multiple FMCW radars, 3) 1D virtual range data generation which dust information is removed by fusion of step 1) and step 2). The proposed method is verified by real experiments.",

keywords = "Dusty environment, FMCW radar, Laser range finder, Sensor fusion, Uneven environment, Virtual range sensor",

author = "Choe, {Tok Son} and Park, {Jin Bae} and Joo, {Sang Hyun} and Park, {Yong Woon}",

note = "Publisher Copyright: {\textcopyright} 2015 SPIE.; Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV ; Conference date: 20-04-2015 Through 22-04-2015",

year = "2015",

doi = "10.1117/12.2176041",

language = "English",

series = "Proceedings of SPIE - The International Society for Optical Engineering",

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Choe, TS, Park, JB, Joo, SH & Park, YW 2015, Obstacle detection for unmanned ground vehicle on uneven and dusty environment. in I Kadar (ed.), Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV., 94741D, Proceedings of SPIE - The International Society for Optical Engineering, vol. 9474, SPIE, Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV, Baltimore, United States, 15/4/20. https://doi.org/10.1117/12.2176041

Obstacle detection for unmanned ground vehicle on uneven and dusty environment. / Choe, Tok Son; Park, Jin Bae; Joo, Sang Hyun et al.
Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV. ed. / Ivan Kadar. SPIE, 2015. 94741D (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9474).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Obstacle detection for unmanned ground vehicle on uneven and dusty environment

AU - Choe, Tok Son

AU - Park, Jin Bae

AU - Joo, Sang Hyun

AU - Park, Yong Woon

PY - 2015

Y1 - 2015

N2 - An obstacle detection method for unmanned ground vehicle in outdoor environment is proposed. The proposed method uses range data acquired by laser range finders (LRFs) and FMCW radars. LRFs and FMCW radars are used for distinguishing ground and obstacles on uneven terrain, and for detecting obstacles in dusty environment. The proposed obstacle detection algorithm is broadly composed of three steps: 1) 1D virtual range data generation which ground information is removed by range data of LRFs, 2) 1D virtual range data generation acquired by fusion of multiple FMCW radars, 3) 1D virtual range data generation which dust information is removed by fusion of step 1) and step 2). The proposed method is verified by real experiments.

AB - An obstacle detection method for unmanned ground vehicle in outdoor environment is proposed. The proposed method uses range data acquired by laser range finders (LRFs) and FMCW radars. LRFs and FMCW radars are used for distinguishing ground and obstacles on uneven terrain, and for detecting obstacles in dusty environment. The proposed obstacle detection algorithm is broadly composed of three steps: 1) 1D virtual range data generation which ground information is removed by range data of LRFs, 2) 1D virtual range data generation acquired by fusion of multiple FMCW radars, 3) 1D virtual range data generation which dust information is removed by fusion of step 1) and step 2). The proposed method is verified by real experiments.

KW - Dusty environment

KW - FMCW radar

KW - Laser range finder

KW - Sensor fusion

KW - Uneven environment

KW - Virtual range sensor

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T3 - Proceedings of SPIE - The International Society for Optical Engineering

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Y2 - 20 April 2015 through 22 April 2015

ER -

Obstacle detection for unmanned ground vehicle on uneven and dusty environment

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