Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2002-01-25

AUTHORS

Han Wang , Jian Xu , Javier I Guzman , Ray A Jarvis , Terence Goh , Chun Wah Chan

ABSTRACT

This paper reports the real time vision algorithm ELS, designed for obstacle detection and ground identification for AGV navigation using multi-baseline stereo. Our major contributions are (1) the Disparity Gradient Filter for noise reduction, (2) ground orientation detection using extended Hough Transform, and (3) the establishment of error model for obstacle detection. Experiments show that the algorithm works effectively in unstructured terrain. More... »

PAGES

561-568

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/3-540-45118-8_56

DOI

http://dx.doi.org/10.1007/3-540-45118-8_56

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1053458808


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Nanyang Technological University", 
          "id": "https://www.grid.ac/institutes/grid.59025.3b", 
          "name": [
            "School of Electrical & Electronic Engineering, Nanyang Technological University, 639798, Singapore"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Wang", 
        "givenName": "Han", 
        "id": "sg:person.012135653543.49", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012135653543.49"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "name": [
            "Gintic Institute of Manufacturing Technology, 638075, Singapore"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Xu", 
        "givenName": "Jian", 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "name": [
            "Gintic Institute of Manufacturing Technology, 638075, Singapore"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Guzman", 
        "givenName": "Javier I", 
        "id": "sg:person.012562431275.53", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012562431275.53"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Monash University", 
          "id": "https://www.grid.ac/institutes/grid.1002.3", 
          "name": [
            "Department of Electrical & Computer Systems Engineering, Monash University, 3168, Melbourne, VIC, Australia"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Jarvis", 
        "givenName": "Ray A", 
        "id": "sg:person.012426442307.16", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012426442307.16"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Defence Science and Technology Agency", 
          "id": "https://www.grid.ac/institutes/grid.453444.6", 
          "name": [
            "Defence Science Technology Agency, 1 Depot Road, 109679, Singapore"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Goh", 
        "givenName": "Terence", 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Defence Science and Technology Agency", 
          "id": "https://www.grid.ac/institutes/grid.453444.6", 
          "name": [
            "Defence Science Technology Agency, 1 Depot Road, 109679, Singapore"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Chan", 
        "givenName": "Chun Wah", 
        "id": "sg:person.015154025111.57", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015154025111.57"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "sg:pub.10.1023/a:1008987612352", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1005881130", 
          "https://doi.org/10.1023/a:1008987612352"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/978-3-642-74585-0_6", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1015194088", 
          "https://doi.org/10.1007/978-3-642-74585-0_6"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1068/p140449", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1058162726"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1068/p140449", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1058162726"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/34.206955", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061155797"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/34.476506", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061156338"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/ivs.1995.528253", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093586560"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/iccv.1995.466802", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093671959"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/ivs.1995.528293", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1094145627"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/iccv.1995.466808", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1094572619"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.5244/c.1.26", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1099320723"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2002-01-25", 
    "datePublishedReg": "2002-01-25", 
    "description": "This paper reports the real time vision algorithm ELS, designed for obstacle detection and ground identification for AGV navigation using multi-baseline stereo. Our major contributions are (1) the Disparity Gradient Filter for noise reduction, (2) ground orientation detection using extended Hough Transform, and (3) the establishment of error model for obstacle detection. Experiments show that the algorithm works effectively in unstructured terrain.", 
    "editor": [
      {
        "familyName": "Rus", 
        "givenName": "Daniela", 
        "type": "Person"
      }, 
      {
        "familyName": "Singh", 
        "givenName": "Sanjiv", 
        "type": "Person"
      }
    ], 
    "genre": "chapter", 
    "id": "sg:pub.10.1007/3-540-45118-8_56", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": {
      "isbn": [
        "978-3-540-42104-7"
      ], 
      "name": "Experimental Robotics VII", 
      "type": "Book"
    }, 
    "name": "Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo", 
    "pagination": "561-568", 
    "productId": [
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/3-540-45118-8_56"
        ]
      }, 
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "fea17a6439da21adb9c77ba0ae975c321e3ba1a14aeeb1606cf4fbce4f6b6572"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1053458808"
        ]
      }
    ], 
    "publisher": {
      "location": "Berlin, Heidelberg", 
      "name": "Springer Berlin Heidelberg", 
      "type": "Organisation"
    }, 
    "sameAs": [
      "https://doi.org/10.1007/3-540-45118-8_56", 
      "https://app.dimensions.ai/details/publication/pub.1053458808"
    ], 
    "sdDataset": "chapters", 
    "sdDatePublished": "2019-04-16T05:32", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000346_0000000346/records_99815_00000003.jsonl", 
    "type": "Chapter", 
    "url": "https://link.springer.com/10.1007%2F3-540-45118-8_56"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/3-540-45118-8_56'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/3-540-45118-8_56'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/3-540-45118-8_56'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/3-540-45118-8_56'


 

This table displays all metadata directly associated to this object as RDF triples.

144 TRIPLES      23 PREDICATES      36 URIs      19 LITERALS      8 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/3-540-45118-8_56 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author N0088c4d31a104755923b36292649ba14
4 schema:citation sg:pub.10.1007/978-3-642-74585-0_6
5 sg:pub.10.1023/a:1008987612352
6 https://doi.org/10.1068/p140449
7 https://doi.org/10.1109/34.206955
8 https://doi.org/10.1109/34.476506
9 https://doi.org/10.1109/iccv.1995.466802
10 https://doi.org/10.1109/iccv.1995.466808
11 https://doi.org/10.1109/ivs.1995.528253
12 https://doi.org/10.1109/ivs.1995.528293
13 https://doi.org/10.5244/c.1.26
14 schema:datePublished 2002-01-25
15 schema:datePublishedReg 2002-01-25
16 schema:description This paper reports the real time vision algorithm ELS, designed for obstacle detection and ground identification for AGV navigation using multi-baseline stereo. Our major contributions are (1) the Disparity Gradient Filter for noise reduction, (2) ground orientation detection using extended Hough Transform, and (3) the establishment of error model for obstacle detection. Experiments show that the algorithm works effectively in unstructured terrain.
17 schema:editor Nb36163dacc73492ca3f15bcd3ebd30f6
18 schema:genre chapter
19 schema:inLanguage en
20 schema:isAccessibleForFree false
21 schema:isPartOf N3d4d89203f3241a0b29bce4496b7b6b3
22 schema:name Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo
23 schema:pagination 561-568
24 schema:productId N336365f4776341fba2b725f02a98a61c
25 Nd48fcfe3af2347b988adbe48c9d071ac
26 Nf334c39beb5d42d7bf4fdba2d18f40a9
27 schema:publisher N0a64a2a86a4f4edb990eec4607863024
28 schema:sameAs https://app.dimensions.ai/details/publication/pub.1053458808
29 https://doi.org/10.1007/3-540-45118-8_56
30 schema:sdDatePublished 2019-04-16T05:32
31 schema:sdLicense https://scigraph.springernature.com/explorer/license/
32 schema:sdPublisher N521776c8c8b7497c833df9c4ad407d4a
33 schema:url https://link.springer.com/10.1007%2F3-540-45118-8_56
34 sgo:license sg:explorer/license/
35 sgo:sdDataset chapters
36 rdf:type schema:Chapter
37 N0088c4d31a104755923b36292649ba14 rdf:first sg:person.012135653543.49
38 rdf:rest Nf0ed0073f08c46a79fcaff76ddfaa318
39 N0545c343d216471fb5d3cdca91aa801d schema:name Gintic Institute of Manufacturing Technology, 638075, Singapore
40 rdf:type schema:Organization
41 N0a64a2a86a4f4edb990eec4607863024 schema:location Berlin, Heidelberg
42 schema:name Springer Berlin Heidelberg
43 rdf:type schema:Organisation
44 N3236080ac64d40058b5d5e9b85285c33 rdf:first sg:person.012562431275.53
45 rdf:rest Nd5d244a1005d4d0a898a1a2542da23fc
46 N336365f4776341fba2b725f02a98a61c schema:name readcube_id
47 schema:value fea17a6439da21adb9c77ba0ae975c321e3ba1a14aeeb1606cf4fbce4f6b6572
48 rdf:type schema:PropertyValue
49 N377ca084502a4df092d668e3016aef83 schema:affiliation N0545c343d216471fb5d3cdca91aa801d
50 schema:familyName Xu
51 schema:givenName Jian
52 rdf:type schema:Person
53 N3d4d89203f3241a0b29bce4496b7b6b3 schema:isbn 978-3-540-42104-7
54 schema:name Experimental Robotics VII
55 rdf:type schema:Book
56 N4427d98ee9f94c689ee83a1e9b87ffc3 rdf:first N6c24ae92bc3c425ca4999a4ad47cee2e
57 rdf:rest Nf6e41cf44def49749a31107b832c20c5
58 N521776c8c8b7497c833df9c4ad407d4a schema:name Springer Nature - SN SciGraph project
59 rdf:type schema:Organization
60 N59b08d791d2341a7bfef3a58cd165d59 schema:familyName Rus
61 schema:givenName Daniela
62 rdf:type schema:Person
63 N5f8b636e57124dbe88a4a55ab05acc72 rdf:first Nc883c0e4e92943f79b5bd607824f77b2
64 rdf:rest rdf:nil
65 N6c24ae92bc3c425ca4999a4ad47cee2e schema:affiliation https://www.grid.ac/institutes/grid.453444.6
66 schema:familyName Goh
67 schema:givenName Terence
68 rdf:type schema:Person
69 Nb3402fbd50114c6eac75f8c322fc1fbe schema:name Gintic Institute of Manufacturing Technology, 638075, Singapore
70 rdf:type schema:Organization
71 Nb36163dacc73492ca3f15bcd3ebd30f6 rdf:first N59b08d791d2341a7bfef3a58cd165d59
72 rdf:rest N5f8b636e57124dbe88a4a55ab05acc72
73 Nc883c0e4e92943f79b5bd607824f77b2 schema:familyName Singh
74 schema:givenName Sanjiv
75 rdf:type schema:Person
76 Nd48fcfe3af2347b988adbe48c9d071ac schema:name dimensions_id
77 schema:value pub.1053458808
78 rdf:type schema:PropertyValue
79 Nd5d244a1005d4d0a898a1a2542da23fc rdf:first sg:person.012426442307.16
80 rdf:rest N4427d98ee9f94c689ee83a1e9b87ffc3
81 Nf0ed0073f08c46a79fcaff76ddfaa318 rdf:first N377ca084502a4df092d668e3016aef83
82 rdf:rest N3236080ac64d40058b5d5e9b85285c33
83 Nf334c39beb5d42d7bf4fdba2d18f40a9 schema:name doi
84 schema:value 10.1007/3-540-45118-8_56
85 rdf:type schema:PropertyValue
86 Nf6e41cf44def49749a31107b832c20c5 rdf:first sg:person.015154025111.57
87 rdf:rest rdf:nil
88 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
89 schema:name Information and Computing Sciences
90 rdf:type schema:DefinedTerm
91 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
92 schema:name Artificial Intelligence and Image Processing
93 rdf:type schema:DefinedTerm
94 sg:person.012135653543.49 schema:affiliation https://www.grid.ac/institutes/grid.59025.3b
95 schema:familyName Wang
96 schema:givenName Han
97 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012135653543.49
98 rdf:type schema:Person
99 sg:person.012426442307.16 schema:affiliation https://www.grid.ac/institutes/grid.1002.3
100 schema:familyName Jarvis
101 schema:givenName Ray A
102 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012426442307.16
103 rdf:type schema:Person
104 sg:person.012562431275.53 schema:affiliation Nb3402fbd50114c6eac75f8c322fc1fbe
105 schema:familyName Guzman
106 schema:givenName Javier I
107 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012562431275.53
108 rdf:type schema:Person
109 sg:person.015154025111.57 schema:affiliation https://www.grid.ac/institutes/grid.453444.6
110 schema:familyName Chan
111 schema:givenName Chun Wah
112 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015154025111.57
113 rdf:type schema:Person
114 sg:pub.10.1007/978-3-642-74585-0_6 schema:sameAs https://app.dimensions.ai/details/publication/pub.1015194088
115 https://doi.org/10.1007/978-3-642-74585-0_6
116 rdf:type schema:CreativeWork
117 sg:pub.10.1023/a:1008987612352 schema:sameAs https://app.dimensions.ai/details/publication/pub.1005881130
118 https://doi.org/10.1023/a:1008987612352
119 rdf:type schema:CreativeWork
120 https://doi.org/10.1068/p140449 schema:sameAs https://app.dimensions.ai/details/publication/pub.1058162726
121 rdf:type schema:CreativeWork
122 https://doi.org/10.1109/34.206955 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061155797
123 rdf:type schema:CreativeWork
124 https://doi.org/10.1109/34.476506 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061156338
125 rdf:type schema:CreativeWork
126 https://doi.org/10.1109/iccv.1995.466802 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093671959
127 rdf:type schema:CreativeWork
128 https://doi.org/10.1109/iccv.1995.466808 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094572619
129 rdf:type schema:CreativeWork
130 https://doi.org/10.1109/ivs.1995.528253 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093586560
131 rdf:type schema:CreativeWork
132 https://doi.org/10.1109/ivs.1995.528293 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094145627
133 rdf:type schema:CreativeWork
134 https://doi.org/10.5244/c.1.26 schema:sameAs https://app.dimensions.ai/details/publication/pub.1099320723
135 rdf:type schema:CreativeWork
136 https://www.grid.ac/institutes/grid.1002.3 schema:alternateName Monash University
137 schema:name Department of Electrical & Computer Systems Engineering, Monash University, 3168, Melbourne, VIC, Australia
138 rdf:type schema:Organization
139 https://www.grid.ac/institutes/grid.453444.6 schema:alternateName Defence Science and Technology Agency
140 schema:name Defence Science Technology Agency, 1 Depot Road, 109679, Singapore
141 rdf:type schema:Organization
142 https://www.grid.ac/institutes/grid.59025.3b schema:alternateName Nanyang Technological University
143 schema:name School of Electrical & Electronic Engineering, Nanyang Technological University, 639798, Singapore
144 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...