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Traversability analysis is a significant and challenging problem for planetary rover's navigation and safeguard on rocky and bumpy terrain. Moreover, the growing requirement for the micro rover in future planetary missions demands robust traversability analysis upon limited sensors and field of perception. In this paper, a framework for stereo based terrain mapping and traversability analysis in autonomous...
Recently, researches on intelligent vehicles which can drive in urban environment autonomously become more popular. Traffic lights are common in cities and are important cues for the path planning of intelligent vehicles. In this paper, a robust and efficient algorithm to detect traffic lights based on video sequences captured by a low cost off-the-shelf video camera is proposed. The algorithm models...
Water hazards such as ponds usually threaten the unmanned ground vehicle autonomous off-road navigation. The water hazards detection is a great challenge when using the machine vision. The method of multi-feature fusion is applied here for this kind of detection. By using the color cameras, we extract the features of brightness and texture from the non-reflection regions. Further more, a new stereo...
Traditional Kalman filter or extended Kalman filter has been used broadly for mobile robot localization. However in some circumstances, its prior Gaussian hypothesis becomes unacceptable and limits the localization precision. For this reason, Monte Carlo method is used for the robot localization. In this paper, the algorithm implementation is advanced after introducing the basic theory of Monte Carlo...
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