Browse > Article

Enhanced Extraction of Traversable Region by Combining Scene Clustering with 3D World Modeling based on CCD/IR Image  

Kim, Jun (ADD)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.11, no.4, 2008 , pp. 107-115 More about this Journal
Abstract
Accurate extraction of traversable region is a critical issue for autonomous navigation of unmanned ground vehicle(UGV). This paper introduces enhanced extraction of traversable region by combining scene clustering with 3D world modeling using CCD(Charge-Coupled Device)/IR(Infra Red) image. Scene clustering is developed with K-means algorithm based on CCD and IR image. 3D world modeling is developed by fusing CCD and IR stereo image. Enhanced extraction of traversable regions is obtained by combining feature of extraction with a clustering method and a geometric characteristic of terrain derived by 3D world modeling.
Keywords
Traversable Region Extraction; CCD/IR Stereo Vision; 3D World Modeling; UGV(Unmanned Ground Vehicle);
Citations & Related Records
연도 인용수 순위
  • Reference
1 심성대, 최덕선, 채정숙, 박용운, '특징 클러스터링 과 월드모델링을 이용한 주행영역 추출 시스템', 군사과학기술학회, 2007 종합학술대회, pp. 1128-1131
2 Yaniv Alon, Andras Ferencz, Amnon Shashua, Off-road Path Following using Region Classification and Geometric Projection Constraints, IEEE Computer Society Conference on Computer Vision and Pattern Recognition 2006
3 D. Scharstein and R. Szeliski, A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms, International Journal of Computer Vision, 2002
4 Thermal-Eye Catalogue and L3 Communications Infrared Products website, www. Thermal-Eye.com
5 R. Stettner and H. Bailey, Eye-safe laser radar 3-D imaging. Proceedings of SPIE, Vol. 5412, 111-116, April 2004
6 Tsai-Hong Hong, Christopher Rasmussen, Tommy Chang and Michael Shneier, Road Detection and Tracking for Autonomous Mobile Robots, SPIE 2002
7 S. Beucher, M. Bilodeau, X. Yu, Road Segmentation by Watersheds Algorithms, in Proceedings of the Pro-art vision, April 1990
8 Hormography from Wikipedia, the free encyclopedia
9 Bumblebee Catalogue and Point Grey Research Website, www.ptgrey.com
10 Urban Bergquist, Colour Vision and Hue for Autonomous Vehicle Guidance, Master's Thesis 1999
11 H. Dahlkamp, A. Kaehler, D. Stavens, S. Thrun and G. Bradsk, Self-supervised Monocular Road Detection in Desert Terrain, In Proc. of Robotics : Science and Systems June 2006
12 Zhigang Zhu, Shiqiang Yang, Guangyou Xu, Xueyin Lin and Dingji Shi, Fast Road Classification and Orientation Estimation Using Omni-View Images and Neural Networks, Image Processing 1998