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The paper introduces an active way to detect vegetation which is at front of the vehicle in order to give a better decision-making in navigation. Blowing devices are to be used for creating strong wind to effect vegetation. Motion compensation and motion detection techniques are applied to detect foreground objects which are presumably judged as vegetation.(More)
In order to adjust the exposure of high resolution and frequency images from an on-board camera in real time, a simple exposure control approach based on luminance histogram analysis is presented to realize light control precisely and rapidly. The algorithm divides the initial image into nine blocks and calculates the mean brightness of every part. It uses(More)
In this paper we present a novel approach to generate precise 3D ground-truth data considering the refraction of the fish tank. We used an accurate and easy-to-handle calibration method to calibrate two orthogonally aligned high-resolution cameras in real-time. For precise fish shape segmentation we combined two different background subtraction algorithms,(More)
The electronic cluster eye (eCley) is a new artificial compound eye with some prominent properties of high resolution, miniature volume, and large field of view. Although having the potential capability of obtaining the depth information, the limitation of the short focal length and tiny volume of the eCley still confine the conventional stereo matching(More)
By increasing complexity of tasks, autonomous outdoor robots emerge from single beings into cooperating groups. This paper first introduces the robots developed at the University of Siegen and then discusses the architecture and communication structure that is able to glue these into a group working on a common task while exploiting their different(More)
One of the main challenges for autonomous navigation is to determine which obstacles can be driven over and which need to be avoided. The investigation of reconstructing 3D model of the viewed scene has showed good performance in environments such as in yard, hall way or on road. However, in cluttered outdoor environments where frequently the scenes are(More)