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

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2004
Accession Number
ADA432750

Entities

People

  • A. Huertas
  • A. L. Rankin
  • L. H. Matthies

Organizations

  • Jet Propulsion Laboratory

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Autonomous Navigation
  • Detection
  • Detectors
  • Ground Vehicles
  • Jet Propulsion
  • Navigation
  • Perception
  • Reflection
  • Trailing Edges
  • Unmanned
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Unmanned Vehicles
  • Vehicles

Readers

  • Computer Vision.
  • Database Systems and Applications
  • Spectroscopy.

Technology Areas

  • Autonomy