Visual ground segmentation by radar supervision

Robotics and Autonomous Systems

Volumn 62, Issue 5, 2014, Pages 696-706

  Milella, Annalisa ^a   Reina, Giulio ^b   Underwood, James ^c   Douillard, Bertrand ^c  

^a INSTITUTE OF INTELLIGENT SYSTEMS FOR AUTOMATION   (Italy)

^b UNIVERSITY OF SALENTO   (Italy)

^c UNIVERSITY OF SYDNEY   (Australia)

Author keywords

Ground segmentation; Perception; Radar vision combination; Self supervised visual classifier

Indexed keywords

AUTONOMOUS VEHICLES; OUTDOOR ENVIRONMENT; RADAR-VISION COMBINATION; SCENE SEGMENTATION; SCENE UNDERSTANDING; TERRAIN CLASSIFICATION; VISUAL APPEARANCE; VISUAL CLASSIFICATION;

CAMERAS; IMAGE CLASSIFICATION; RADAR MEASUREMENT; SENSORY PERCEPTION; UNMANNED VEHICLES;

RADAR;

EID: 84904785239     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2012.10.001     Document Type: Article

References (28)

1. G. Brooker, R. Hennessey, M. Bishop, C. Lobsey, H. Durrant-Whyte, and D. Birch High-resolution millimeter-wave radar systems for visualization of unstructured outdoor environments Journal of Field Robotics 23 10 2006 891 912
2. A. Sole, O. Mano, G. Stein, H. Kumon, Y. Tamatsu, A. Shashua, Solid or not solid: vision for radar target validation, in: Proceedings of IEEE Intelligent Vehicles Symposium, 2004.
3. Z. Ji, D. Prokhorov, Radar-vision fusion for object classification, in: Proceedings of 11th International Conference on Information Fusion, 2008.
4. A. Milella, G. Reina, and R. Siegwart Computer vision methods for improved mobile robot state estimation in challenging terrains Journal of Multimedia 1 7 2006 49 61
5. G. Alessandretti, A. Broggi, and P. Cerri Vehicle and guard rail detection using radar and vision data fusion IEEE Transactions on Intelligent Transportation Systems 8 1 2007 95 105
6. S. Wu, S. Decker, P. Chang, T. Camus, and J. Eledath Collision sensing by stereo vision and radar sensor fusion IEEE Transactions On Intelligent Transportation Systems 10 4 2009 606 614
7. P. Vernaza, B. Taskar, D. Lee, Online, self-supervised terrain classification via discriminatively trained submodular markov random fields, in: Proceedings of IEEE International Conference on Robotics and Automation, 2008, pp. 2750-2757.
8. G. Reina, and A. Milella Towards autonomous agriculture: automatic ground detection using trinocular stereovision Sensors 12 9 2012 12405 12423 10.3390/s120912405
9. C. Brooks, K. Iagnemma, Self-supervised terrain classification for planetary rovers, in: Proceedings of NASA Science Technology Conference, 2007.
10. H. Dahlkamp, D.S.A. Kaehler, S. Thrun, G. Bradski, Self-supervised monocular road detection in desert terrain, in: Proceedings of the Robotics Science and Systems Conference, 2006.
11. G. Reina, A. Milella, and J. Underwood Self-learning classification of radar features for scene understanding Robotics and Autonomous Systems 60 11 2012 1377 1388 10.1016/j.robot.2012.03.002
12. G. Reina, J. Underwood, G. Brooker, and H. Durrant-Whyte Radar-based perception for autonomous outdoor vehicles Journal of Field Robotics 28 6 2011 894 913 10.1002/rob.20393
13. T.Z. Jiang, H. Wu, K. Wu, and X. Sun Thresholding method of CFAR for millimeter-wave collision warning radar Journal of Infrared and Millimeter Waves 24 3 2001 217 220
14. A. Foessel, J. Bares, W. Whittaker, Three-dimensional map building with MMW radar, in: Proceedings of the International Conference on Field and Service Robotics, 2001.
15. B. Sofman, E. Lin, J.A. Bagnell, N. Vandapel, A. Stentz, Improving robot navigation through self-supervised online learning, in: Proceedings of Robotics: Science and Systems, 2006.
16. C. Balkenius, M. Johansson, Finding colored objects in a scene, in: LUCS Minor, 12, 2007.
17. T. Reed, and J.H. du Buf A review of recent texture segmentation and feature extraction techniques, computer vision, graphics, and image processing Image Understanding 57 3 1993 359 372
18. C. Brooks, K. Iagnemma, Visual detection of novel terrain via two-class classification, in: Proceedings of IROS, 2008.
19. R. Haralick, K. Shanmugam, and I. Dinstein Textural features for image classification IEEE Transactions on Systems, Man and Cybernetics 3 6 1973 21 24
20. R. Cossu Segmentation by means of textural analysis Pixel 1 2 1988 21 24
21. A. Baraldi, and F. Parmiggiani An investigation of the textural characteristics associated with gray level co-occurrence matrix statistical parameters IEEE Transactions on Geoscience and Remote Sensing 33 2 1995 293 304
22. D. Tax, One-class classification. concept learning in the absence of counter examples, Ph.D. Thesis, Delft University of Technology, Delft, Netherlands, 2001.
23. E. Duda, P. Hart, and D. Stork Pattern Classification 2nd ed. 2001 Wiley
24. K. Mardia, J. Kent, and J. Bibby Multivariate Analysis 1979 Academic Press London
25. J. Hardin, and D. Rocke The distribution of robust distances Journal of Computational and Graphical Statistics 14 2005 1 19
26. A. Bartkowiak Robust Mahalanobis distances obtained using the 'multout' and 'fast-mcd' methods Biocybernetics and Biomedical Engineering 25 2005 7 21
27. T. Peynot, S. Scheding, and S. Terho The Marulan data sets: multi-sensor perception in natural environment with challenging conditions International Journal of Robotics Research 29 13 2010 1602 1607
28. J. Hanley, and B. McNeil The meaning and use of the area under a receiver operating characteristic (ROC) curve Radiology 143 1 1982 29 36