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Object Recognition is an essential component for Autonomous Land Vehicle (ALV) navigation in urban environments. This paper presents a thorough evaluation of the performance of some state of the art global descriptors on the public Sydney Urban Objects Dataset<sup>1</sup>, which was collected in the Central Business District of Sydney. These descriptors are(More)
Odors are a major result of inadequately sized and mismanaged anaerobic lagoons. However, purple or pink colored lagoons, indicating the presence of phototrophic purple bacteria, are less likely to be an odor nuisance than are non–purple lagoons. Eight swine lagoons were studied to quantify critical parameters thought to allow purple lagoons to be a more(More)
Long range road intersection detection is crucial for localization and local path planning of autonomous vehicle in urban environments. In this paper, a new long-range road intersection detection approach for autonomous vehicle equipped with 3D LIDAR is presented. The approach first analyzes the admissible space in front of the autonomous vehicle, and then(More)
Dynamic environment perception is an important component for unmanned ground vehicle navigation. In this paper, we focus on the vehicle detection and tracking with two low cost 2D laser range finders. Firstly, a foreground segmentation method is proposed based on a combination of the time cue and motion cue. The modified laser beam model is proposed for the(More)
Dynamic vehicle tracking is an important module for Autonomous Land Vehicle (ALV) navigation in outdoor environments. The key step for a successful tracker is to accurately estimate the pose of the vehicle. In this paper, we present a novel real-time vehicle pose estimation algorithm based on the likelihood field model built on the Velodyne LIDAR data. The(More)
Curb detection is an important research topic for unmanned ground vehicle (UGV) navigation. In this paper, a new curb detection method is proposed using a 2D laser range finder in a campus environment. Firstly, a local Digital Elevation Map (DEM) is built with 2D sequential laser range finder data and vehicle state information. Then, the curb candidate(More)
Long range curb detection is crucial for an Autonomous Land Vehicle (ALV) navigation in urban environments. This paper presents a novel curb detection algorithm which can detect the curbs up to 50 meters away with Velodyne LIDAR. Instead of building a Digital Elevation Map (DEM) and utilizing geometric features (like normal direction) to extract candidate(More)
Dynamic vehicle detection is an important module for Autonomous Land Vehicle (ALV) navigation in outdoor environments. In this paper, we present a novel dynamic vehicle detection algorithm based on the likelihood field model for an ALV equipped with a Velodyne LIDAR. An improved 2D virtual scan is utilized to detect the dynamic objects with the scan(More)