Abstract

Autonomous vehicle operations in outdoor environments challenge robotic perception. Construction, mining, agriculture, and planetary exploration environments are examples in which the presence of dust, fog, rain, changing illumination due to low sun angles, and lack of contrast can dramatically degrade conventional stereo and laser sensing. Nonetheless, environment perception can still succeed under compromised visibility through the use of a millimeter-wave radar. Radar also allows for multiple object detection within a single beam, whereas other range sensors are limited to one target return per emission. However, radar has shortcomings as well, such as a large footprint, specularity effects, and limited range resolution, all of which may result in poor environment survey or difficulty in interpretation. This paper presents a novelmethod for ground segmentation using a millimeter-wave radar mounted on a ground vehicle. Issues relevant to short-range perception in an outdoor environment are described along with field experiments and a quantitative comparison to laser data. The ability to classify the ground is successfully demonstrated in clear and low-visibility conditions, and significant improvement in range accuracy is shown. Finally, conclusions are drawn on the utility of millimeter-wave radar as a robotic sensor for persistent and accurate perception in natural scenarios.

Autore Pugliese

• Reina Giulio

Tutti gli autori

• Reina G. , Underwood J. , Brooker G. , Durrant-Whyte H.

Titolo volume/Rivista

JOURNAL OF FIELD ROBOTICS

Anno di pubblicazione

2011

ISSN

1556-4959

ISBN

Non Disponibile

Numero di citazioni Wos

20

Ultimo Aggiornamento Citazioni

28/04/2018

Numero di citazioni Scopus

26

Ultimo Aggiornamento Citazioni

28/04/2018

Settori ERC

Non Disponibile

Codici ASJC

Non Disponibile