A feature matching and fusion-based positive obstacle detection algorithm for field autonomous land vehicles

被引：2

作者：

Wu, Tao ^{[1
]}

Cui, Huihai ^{[1
]}

Li, Yan ^{[1
]}

Wang, Wei ^{[1
]}

Lui, Daxue ^{[1
]}

Shang, Erke ^{[1
,2
]}

机构：

[1] Natl Univ Def Technol, Coll Mechatron & Automat, Unmanned Syst Inst, Changsha, Hunan, Peoples R China

[2] Autonomous Land Vehicle Res Ctr, Deya Rd, Changsha 410073, Hunan, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2017年 / 14卷 / 02期

关键词：

3-D LiDAR; field ALV; positive obstacle detection; FMF algorithm; TERRAIN CLASSIFICATION;

D O I：

10.1177/1729881417692516

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Positive obstacles will cause damage to field robotics during traveling in field. Field autonomous land vehicle is a typical field robotic. This article presents a feature matching and fusion-based algorithm to detect obstacles using LiDARs for field autonomous land vehicles. There are three main contributions: (1) A novel setup method of compact LiDAR is introduced. This method improved the LiDAR data density and reduced the blind region of the LiDAR sensor. (2) A mathematical model is deduced under this new setup method. The ideal scan line is generated by using the deduced mathematical model. (3) Based on the proposed mathematical model, a feature matching and fusion (FMAF)-based algorithm is presented in this article, which is employed to detect obstacles. Experimental results show that the performance of the proposed algorithm is robust and stable, and the computing time is reduced by an order of two magnitudes by comparing with other exited algorithms. This algorithm has been perfectly applied to our autonomous land vehicle, which has won the champion in the challenge of Chinese Overcome Danger 2014 ground unmanned vehicle.

引用

页数：20