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A Spatially and Temporally Scalable Approach for Long-Term Lakeshore Monitoring Read chapter Read first chapter

2016 | OriginalPaper | Chapter

A Stereo Vision Based Obstacle Detection System for Agricultural Applications

Authors : Patrick Fleischmann, Karsten Berns

Published in: Field and Service Robotics

Publisher: Springer International Publishing

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Abstract

In this paper, an obstacle detection system for field applications is presented which relies on the output of a stereo vision camera. In a first step, it splits the point cloud into cells which are analyzed in parallel. Here, features like density and distribution of the points and the normal of a fitted plane are taken into account. Finally, a neighborhood analysis clusters the obstacles and identifies additional ones based on the terrain slope. Furthermore, additional properties can be easily derived from the grid structure like a terrain traversability estimation or a dominant ground plane. The experimental validation has been done on a modified tractor on the field, with a test vehicle on the campus and within the forest.

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Footnotes
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Metadata
Title
A Stereo Vision Based Obstacle Detection System for Agricultural Applications
Authors
Patrick Fleischmann
Karsten Berns
Copyright Year
2016
Book
Field and Service Robotics

Print ISBN: 978-3-319-27700-4

Electronic ISBN: 978-3-319-27702-8

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-27702-8_15