Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting the presence of water during the daytime using color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of reflections in stereo range data. A rule base for fusing water cues was developed by evaluating detection results from an extensive archive of data collection imagery containing water. This software has been implemented into a run-time passive perception subsystem and tested thus far under Linux on a Pentium based processor.


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    Title :

    Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation


    Contributors:
    A. L. Rankin (author) / L. H. Matthies (author) / A. Huertas (author)

    Publication date :

    2005


    Size :

    14 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation

    A. L. Rankin / L. H. Matthies / A. Huertas | NTIS | 2004


    Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation

    Rankin, A. L. / Matthies, L. H. / Huertas, A. | NTRS | 2004



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