Multi- and Hyper-Spectral Sensing for Autonomous Ground Vehicle Navigation

FOGLER, ROBERT J.

Sandia National Laboratories

关键词: Plants;    Spectra;    Remote Sensing;    Classification;    Soils;   

DOI  :  10.2172/820893
RP-ID  :  SAND2003-1980
RP-ID  :  AC04-94AL85000
RP-ID  :  820893

美国|英语

来源: UNT Digital Library

【 摘 要 】

Robotic vehicles that navigate autonomously are hindered by unnecessary avoidance of soft obstacles, and entrapment by potentially avoidable obstacles. Existing sensing technologies fail to reliably distinguish hard obstacles from soft obstacles, as well as impassable thickets and other sources of entrapment. Automated materials classification through advanced sensing methods may provide a means to identify such obstacles, and from their identity, to determine whether they must be avoided. Multi- and hyper-spectral electro-optic sensors are used in remote sensing applications to classify both man-made and naturally occurring materials on the earth's surface by their reflectance spectra. The applicability of this sensing technology to obstacle identification for autonomous ground vehicle navigation is the focus of this report. The analysis is restricted to system concepts in which the multi- or hyper-spectral sensor is on-board the ground vehicle, facing forward to detect and classify obstacles ahead of the vehicle. Obstacles of interest include various types of vegetation, rocks, soils, minerals, and selected man-made materials such as paving asphalt and concrete.