DocumentCode
3467367
Title
Occlusions in obstacle detection for safe navigation
Author
Sadou, M. ; Polotski, V. ; Cohen, P.
Author_Institution
Perception & Robotics Lab., Ecole Polytech., Montreal, Que., Canada
fYear
2004
fDate
14-17 June 2004
Firstpage
716
Lastpage
721
Abstract
Obstacles detection is essential to safe autonomous platform navigation. The obstacle detection methods proposed in the literature do not pay sufficient attention to the occlusion-problem caused by the existence of regions along the trajectory of a vehicle that are hidden by other objects and where potential obstacles might be located. Our approach takes occlusions into account to prevent the possibility of collision. Experimental results with a robotic platform demonstrating the effectiveness of the developed algorithm are presented.
Keywords
collision avoidance; computerised navigation; laser ranging; mobile robots; object detection; traffic engineering computing; vehicles; obstacle detection; occlusions; robotic platform; safe autonomous platform navigation; vehicle; Cameras; Collision avoidance; Laboratories; Laser radar; Radar detection; Remotely operated vehicles; Robots; Sonar detection; Sonar navigation; Vehicle detection;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2004 IEEE
Print_ISBN
0-7803-8310-9
Type
conf
DOI
10.1109/IVS.2004.1336472
Filename
1336472
Link To Document