Novelty-based visual obstacle detection in agriculture
Ross, Patrick, English, Andrew, Ball, David, Upcroft, Ben, Wyeth, Gordon, & Corke, Peter (2014) Novelty-based visual obstacle detection in agriculture. In Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Hong Kong, China, pp. 1699-1705.
This paper describes a novel obstacle detection system for autonomous robots in agricultural field environments that uses a novelty detector to inform stereo matching. Stereo vision alone erroneously detects obstacles in environments with ambiguous appearance and ground plane such as in broad-acre crop fields with harvested crop residue. The novelty detector estimates the probability density in image descriptor space and incorporates image-space positional understanding to identify potential regions for obstacle detection using dense stereo matching. The results demonstrate that the system is able to detect obstacles typical to a farm at day and night. This system was successfully used as the sole means of obstacle detection for an autonomous robot performing a long term two hour coverage task travelling 8.5 km.
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|Item Type:||Conference Paper|
|Keywords:||Field robotics, Obstacle avoidance, Computer vision|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 [please consult the author]|
|Deposited On:||27 Mar 2014 23:43|
|Last Modified:||30 Oct 2014 13:43|
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