Detecting personnel around UGVs using stereo vision

Max Bajracharya; Baback Moghaddam; Andrew Howard; Larry H. Matthies

doi:10.1117/12.782210

16 April 2008 Detecting personnel around UGVs using stereo vision

Max Bajracharya, Baback Moghaddam, Andrew Howard, Larry H. Matthies

Proceedings Volume 6962, Unmanned Systems Technology X; 696202 (2008) https://doi.org/10.1117/12.782210
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Detecting people around unmanned ground vehicles (UGVs) to facilitate safe operation of UGVs is one of the highest priority issues in the development of perception technology for autonomous navigation. Research to date has not achieved the detection ranges or reliability needed in deployed systems to detect upright pedestrians in flat, relatively uncluttered terrain, let alone in more complex environments and with people in postures that are more difficult to detect. Range data is essential to solve this problem. Combining range data with high resolution imagery may enable higher performance than range data alone because image appearance can complement shape information in range data and because cameras may offer higher angular resolution than typical range sensors. This makes stereo vision a promising approach for several reasons: image resolution is high and will continue to increase, the physical size and power dissipation of the cameras and computers will continue to decrease, and stereo cameras provide range data and imagery that are automatically spatially and temporally registered. We describe a stereo vision-based pedestrian detection system, focusing on recent improvements to a shape-based classifier applied to the range data, and present frame-level performance results that show great promise for the overall approach.

Citation Download Citation

Max Bajracharya, Baback Moghaddam, Andrew Howard, and Larry H. Matthies "Detecting personnel around UGVs using stereo vision", Proc. SPIE 6962, Unmanned Systems Technology X, 696202 (16 April 2008); https://doi.org/10.1117/12.782210

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