Obstacle Detection in Foliage with Ladar and Radar
Obstacle Detection in Foliage with Ladar and Radar
复制标题
使用激光雷达和雷达进行树叶障碍物检测
DOI：
10.1007/11008941_31
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
R. Manduchi
中科院分区：
文献类型：
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作者：
L. Matthies;C. Bergh;A. Castano;Jose A. Macedo;R. Manduchi
自主越野导航是无人驾驶地面车辆几个重要应用的核心。这需要能够检测植被中的障碍物。我们研究这样做的前景与扫描激光雷达和2.2 GHz微脉冲雷达收发器的线性阵列。对于激光雷达，我们总结了我们的工作，以单轴激光雷达在高草中检测障碍物的算法，然后提出了一个简单的概率模型的距离到高草，基于激光雷达的障碍物检测是可能的。该模型表明，激光雷达的“穿透深度”可以从10厘米到几米不等，这取决于植物类型。我们还提出了一个混合像素现象的飞行时间，生病的激光雷达的实验研究，并简要讨论如何这承担的问题。对于雷达，我们展示了将现有的多频衍射层析成像算法应用于一组45次扫描的结果，其中一个传感器横向平移4 cm/扫描以模仿收发器的线性阵列。这将产生阵列前方散射表面的高分辨率二维地图，并清晰地显示出超过2.5米厚的树叶后面的大树干。这两种类型的传感器都需要进一步开发和利用这个问题。
Autonomous off-road navigation is central to several important applications of unmanned ground vehicles. This requires the ability to detect obstacles in vegetation. We examine the prospects for doing so with scanning ladar and with a linear array of 2.2 GHz micro-impulse radar transceivers. For ladar, we summarize our work to date on algorithms for detecting obstacles in tall grass with single-axis ladar, then present a simple probabilistic model of the distance into tall grass that ladar-based obstacle detection is possible. This model indicates that the ladar “penetration depth” can range from on the order of 10 cm to several meters, depending on the plant type. We also present an experimental investigation of mixed pixel phenomenology for a time-of-flight, SICK ladar and discuss briefly how this bears on the problem. For radar, we show results of applying an existing algorithm for multi-frequency diffraction tomography to a set of 45 scans taken with one sensor translating laterally 4 cm/scan to mimic a linear array of transceivers. This produces a high resolution, 2-D map of scattering surfaces in front of the array and clearly reveals a large tree trunk behind over 2.5 m of thick foliage. Both types of sensor warrant further development and exploitation for this problem.