NDLI: Appearance contrast for fast, robust trail-following

Content Provider	IEEE Xplore Digital Library
Author	Rasmussen, C. Yan Lu Kocamaz, M.
Copyright Year	2009
Description	Author affiliation: Dept. of Computer & Information Sciences, University of Delaware, Newark, USA (Rasmussen, C.; Yan Lu; Kocamaz, M.)
Abstract	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 performance where available, and several alternative algorithms are compared on the same data.
Starting Page	3505
Ending Page	3512
File Size	1775744
Page Count	8
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354059
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Shape Laser radar Navigation Intelligent robots Road vehicles Unmanned aerial vehicles USA Councils Vegetation mapping Lighting
Content Type	Text
Resource Type	Article

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