Title :
Research on water hazard detection based on line structured light sensor for long-distance all day
Author :
Haiyan Shao ; Zhenhai Zhang ; Kejie Li
Author_Institution :
Sch. of Mechatron. Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
The line structured light method is applied to recognize environment of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for long-range, day & time detection of water obstacle detection. The mathematical model of the line structured light sensor is established to measure water obstacles. The variation law that structured light stripe shape and gray is varied to different obstacles is summarized. A new method is proposed to extract the contour of the water hazard. A novel filtering is proposed to meet different noise density. A lot of experiments show that the line structured light sensor can detect meters water hazard, and has the advantages of fast and accurate.
Keywords :
feature extraction; hazards; image filtering; mobile robots; remotely operated vehicles; robot vision; water; UGV; contour extraction; environment recognition; filtering; long-distance all day; mathematical model; noise density; online structured light sensor; structured light stripe shape; unmanned ground vehicle; variation law; water hazard detection; water obstacle detection; water obstacle measurement; Cameras; Hazards; Mirrors; Noise; Roads; Robot sensing systems; Strips; Line structured light visual sensor; Water hazards; all day; long-distance detection;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237756
