Wen, M., Guo, J., Zhou, Y., Zhang, J., Yue, Y., & Wang, D. (2023). Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion. 在 M. Dogar, B. Fang, D. Kanoulas, J. Pan, A. Sciutti, M. Zhao, G. Bao, B. Joao, B. J. Hylke, H. Chen, C. Teng, Y. Cui, D. Giulio, W. Ding, L. Du, F. Andre, Y. Gao, H. Shun, L. He, T. Hou, Z. Hu, Z. Huang, J.-M. George, Y. Ji, J. Doreen, F. Ju, K. Bilal, K. Wansoo, T. Kiyokawa, H. Li, P. Li, S. Li, X. Li, J. Liao, L. Jie, C. Liu, Q. Liu, L. Lu, Q. Luo, Y. Luo, Z. Mao, M.-H. Uriel, M. Takahiro, N. T. Luan, N. Takuzumi, P. Dario, P. Camilla, C. Ren, R. Serena, R. Luca, S. Fan, S. Susanna, R. Sun, Z. Sun, V. Fabio, G. Wang, W. Wang, X. Wang, Y. Wang, Z. Wang, Q. Wu, X. Wu, Y. Sun, Y. Yan, L. Yang, Y. Iori, J. Zhang, S. Zhang, T. Zhang, J. Zhao, N. Zhao, C. Zhou, P. Zhou, ... H. Zhu (编辑), 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023 (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO58561.2023.10354928
Wen, Mingxing ; Guo, Jiajie ; Zhou, Yichen 等. / Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion. 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. 编辑 / Mehmet Dogar ; Bin Fang ; Dimitrios Kanoulas ; Jia Pan ; Alessandra Sciutti ; Moju Zhao ; Guanjun Bao ; Bimbo Joao ; Boyle Jordan Hylke ; He Chen ; Chen Teng ; Yunduan Cui ; Dagnino Giulio ; Wenbo Ding ; Liang Du ; Farinha Andre ; Yuan Gao ; Hasegawa Shun ; Liang He ; Taogang Hou ; Zhe Hu ; Zhong Huang ; Jackson-Mills George ; Yunfeng Ji ; Jirak Doreen ; Feng Ju ; Kaddouh Bilal ; Kim Wansoo ; Takuya Kiyokawa ; Haiyuan Li ; Peng Li ; Shihao Li ; Xu Li ; Jianfeng Liao ; Ling Jie ; Chunfang Liu ; Quanquan Liu ; Liang Lu ; Qiuyue Luo ; Yudong Luo ; Zebing Mao ; Martinez-Hernandez Uriel ; Matsuno Takahiro ; Nguyen Thanh Luan ; Nishio Takuzumi ; Pasquali Dario ; Pierella Camilla ; Chao Ren ; Ricci Serena ; Rossini Luca ; Shi Fan ; Summa Susanna ; Rongchuan Sun ; Zhenglong Sun ; Vannucci Fabio ; Gang Wang ; Wei Wang ; Xin Wang ; Yuquan Wang ; Ziya Wang ; Qingxiang Wu ; Xiaojun Wu ; Yuxin Sun ; Youcan Yan ; Lei Yang ; Yanokura Iori ; Jingfan Zhang ; Shuai Zhang ; Tianwei Zhang ; Jinglei Zhao ; Na Zhao ; Chengxu Zhou ; Peng Zhou ; Haifei Zhu. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023).
@inproceedings{c959c71dc69b4a0cb109d1214e1e8fcf,
title = "Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion",
abstract = "How to efficiently and safely navigate unmanned ground vehicles in unstructured off-road environments still faces several challenges, such as various terrains and highly dynamic scenarios. Traversability analysis presents tremendous potential in addressing these problems by perceiving surroundings and building travesability maps. In this paper, a novel traversability analysis algorithm based on multi-modal information fusion has been proposed. This algorithm comprehensively leverages data from both LiDAR and camera to understand the characteristics of the environment. Point clouds are utilized to extract geometric features such as flat surfaces, slopes and depressions, and semantic segmentation of images enables the identification of various terrains as well as dynamic objects. These two types of information will be effectively fused and integrated to generate a traversability map on the fly, which is dynamically insensitive. To verify the performance and effectiveness, the algorithm has been deployed on an Unmanned Ground Vehicle(UGV) where MMDeploy Toolbox has been used to accelerate the inference speed of the segmentation model and maintain the input stream frequency of mapping at around 10 Hz. Extensive experiments have been conducted within campus and the algorithm demonstrates robustness in such environment with diverse terrains and dynamic objects.",
author = "Mingxing Wen and Jiajie Guo and Yichen Zhou and Jun Zhang and Yufeng Yue and Danwei Wang",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023 ; Conference date: 04-12-2023 Through 09-12-2023",
year = "2023",
doi = "10.1109/ROBIO58561.2023.10354928",
language = "English",
series = "2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Mehmet Dogar and Bin Fang and Dimitrios Kanoulas and Jia Pan and Alessandra Sciutti and Moju Zhao and Guanjun Bao and Bimbo Joao and Hylke, {Boyle Jordan} and He Chen and Chen Teng and Yunduan Cui and Dagnino Giulio and Wenbo Ding and Liang Du and Farinha Andre and Yuan Gao and Hasegawa Shun and Liang He and Taogang Hou and Zhe Hu and Zhong Huang and Jackson-Mills George and Yunfeng Ji and Jirak Doreen and Feng Ju and Kaddouh Bilal and Kim Wansoo and Takuya Kiyokawa and Haiyuan Li and Peng Li and Shihao Li and Xu Li and Jianfeng Liao and Ling Jie and Chunfang Liu and Quanquan Liu and Liang Lu and Qiuyue Luo and Yudong Luo and Zebing Mao and Martinez-Hernandez Uriel and Matsuno Takahiro and Luan, {Nguyen Thanh} and Nishio Takuzumi and Pasquali Dario and Pierella Camilla and Chao Ren and Ricci Serena and Rossini Luca and Shi Fan and Summa Susanna and Rongchuan Sun and Zhenglong Sun and Vannucci Fabio and Gang Wang and Wei Wang and Xin Wang and Yuquan Wang and Ziya Wang and Qingxiang Wu and Xiaojun Wu and Yuxin Sun and Youcan Yan and Lei Yang and Yanokura Iori and Jingfan Zhang and Shuai Zhang and Tianwei Zhang and Jinglei Zhao and Na Zhao and Chengxu Zhou and Peng Zhou and Haifei Zhu",
booktitle = "2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023",
address = "United States",
}
Wen, M, Guo, J, Zhou, Y, Zhang, J, Yue, Y & Wang, D 2023, Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion. 在 M Dogar, B Fang, D Kanoulas, J Pan, A Sciutti, M Zhao, G Bao, B Joao, BJ Hylke, H Chen, C Teng, Y Cui, D Giulio, W Ding, L Du, F Andre, Y Gao, H Shun, L He, T Hou, Z Hu, Z Huang, J-M George, Y Ji, J Doreen, F Ju, K Bilal, K Wansoo, T Kiyokawa, H Li, P Li, S Li, X Li, J Liao, L Jie, C Liu, Q Liu, L Lu, Q Luo, Y Luo, Z Mao, M-H Uriel, M Takahiro, NT Luan, N Takuzumi, P Dario, P Camilla, C Ren, R Serena, R Luca, S Fan, S Susanna, R Sun, Z Sun, V Fabio, G Wang, W Wang, X Wang, Y Wang, Z Wang, Q Wu, X Wu, Y Sun, Y Yan, L Yang, Y Iori, J Zhang, S Zhang, T Zhang, J Zhao, N Zhao, C Zhou, P Zhou & H Zhu (编辑), 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023, Institute of Electrical and Electronics Engineers Inc., 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023, Koh�Samui, 泰国, 4/12/23. https://doi.org/10.1109/ROBIO58561.2023.10354928
Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion. / Wen, Mingxing; Guo, Jiajie; Zhou, Yichen 等.
2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. 编辑 / Mehmet Dogar; Bin Fang; Dimitrios Kanoulas; Jia Pan; Alessandra Sciutti; Moju Zhao; Guanjun Bao; Bimbo Joao; Boyle Jordan Hylke; He Chen; Chen Teng; Yunduan Cui; Dagnino Giulio; Wenbo Ding; Liang Du; Farinha Andre; Yuan Gao; Hasegawa Shun; Liang He; Taogang Hou; Zhe Hu; Zhong Huang; Jackson-Mills George; Yunfeng Ji; Jirak Doreen; Feng Ju; Kaddouh Bilal; Kim Wansoo; Takuya Kiyokawa; Haiyuan Li; Peng Li; Shihao Li; Xu Li; Jianfeng Liao; Ling Jie; Chunfang Liu; Quanquan Liu; Liang Lu; Qiuyue Luo; Yudong Luo; Zebing Mao; Martinez-Hernandez Uriel; Matsuno Takahiro; Nguyen Thanh Luan; Nishio Takuzumi; Pasquali Dario; Pierella Camilla; Chao Ren; Ricci Serena; Rossini Luca; Shi Fan; Summa Susanna; Rongchuan Sun; Zhenglong Sun; Vannucci Fabio; Gang Wang; Wei Wang; Xin Wang; Yuquan Wang; Ziya Wang; Qingxiang Wu; Xiaojun Wu; Yuxin Sun; Youcan Yan; Lei Yang; Yanokura Iori; Jingfan Zhang; Shuai Zhang; Tianwei Zhang; Jinglei Zhao; Na Zhao; Chengxu Zhou; Peng Zhou; Haifei Zhu. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023).
科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审
TY - GEN
T1 - Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion
AU - Wen, Mingxing
AU - Guo, Jiajie
AU - Zhou, Yichen
AU - Zhang, Jun
AU - Yue, Yufeng
AU - Wang, Danwei
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - How to efficiently and safely navigate unmanned ground vehicles in unstructured off-road environments still faces several challenges, such as various terrains and highly dynamic scenarios. Traversability analysis presents tremendous potential in addressing these problems by perceiving surroundings and building travesability maps. In this paper, a novel traversability analysis algorithm based on multi-modal information fusion has been proposed. This algorithm comprehensively leverages data from both LiDAR and camera to understand the characteristics of the environment. Point clouds are utilized to extract geometric features such as flat surfaces, slopes and depressions, and semantic segmentation of images enables the identification of various terrains as well as dynamic objects. These two types of information will be effectively fused and integrated to generate a traversability map on the fly, which is dynamically insensitive. To verify the performance and effectiveness, the algorithm has been deployed on an Unmanned Ground Vehicle(UGV) where MMDeploy Toolbox has been used to accelerate the inference speed of the segmentation model and maintain the input stream frequency of mapping at around 10 Hz. Extensive experiments have been conducted within campus and the algorithm demonstrates robustness in such environment with diverse terrains and dynamic objects.
AB - How to efficiently and safely navigate unmanned ground vehicles in unstructured off-road environments still faces several challenges, such as various terrains and highly dynamic scenarios. Traversability analysis presents tremendous potential in addressing these problems by perceiving surroundings and building travesability maps. In this paper, a novel traversability analysis algorithm based on multi-modal information fusion has been proposed. This algorithm comprehensively leverages data from both LiDAR and camera to understand the characteristics of the environment. Point clouds are utilized to extract geometric features such as flat surfaces, slopes and depressions, and semantic segmentation of images enables the identification of various terrains as well as dynamic objects. These two types of information will be effectively fused and integrated to generate a traversability map on the fly, which is dynamically insensitive. To verify the performance and effectiveness, the algorithm has been deployed on an Unmanned Ground Vehicle(UGV) where MMDeploy Toolbox has been used to accelerate the inference speed of the segmentation model and maintain the input stream frequency of mapping at around 10 Hz. Extensive experiments have been conducted within campus and the algorithm demonstrates robustness in such environment with diverse terrains and dynamic objects.
UR - http://www.scopus.com/inward/record.url?scp=85182552816&partnerID=8YFLogxK
U2 - 10.1109/ROBIO58561.2023.10354928
DO - 10.1109/ROBIO58561.2023.10354928
M3 - Conference contribution
AN - SCOPUS:85182552816
T3 - 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
BT - 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
A2 - Dogar, Mehmet
A2 - Fang, Bin
A2 - Kanoulas, Dimitrios
A2 - Pan, Jia
A2 - Sciutti, Alessandra
A2 - Zhao, Moju
A2 - Bao, Guanjun
A2 - Joao, Bimbo
A2 - Hylke, Boyle Jordan
A2 - Chen, He
A2 - Teng, Chen
A2 - Cui, Yunduan
A2 - Giulio, Dagnino
A2 - Ding, Wenbo
A2 - Du, Liang
A2 - Andre, Farinha
A2 - Gao, Yuan
A2 - Shun, Hasegawa
A2 - He, Liang
A2 - Hou, Taogang
A2 - Hu, Zhe
A2 - Huang, Zhong
A2 - George, Jackson-Mills
A2 - Ji, Yunfeng
A2 - Doreen, Jirak
A2 - Ju, Feng
A2 - Bilal, Kaddouh
A2 - Wansoo, Kim
A2 - Kiyokawa, Takuya
A2 - Li, Haiyuan
A2 - Li, Peng
A2 - Li, Shihao
A2 - Li, Xu
A2 - Liao, Jianfeng
A2 - Jie, Ling
A2 - Liu, Chunfang
A2 - Liu, Quanquan
A2 - Lu, Liang
A2 - Luo, Qiuyue
A2 - Luo, Yudong
A2 - Mao, Zebing
A2 - Uriel, Martinez-Hernandez
A2 - Takahiro, Matsuno
A2 - Luan, Nguyen Thanh
A2 - Takuzumi, Nishio
A2 - Dario, Pasquali
A2 - Camilla, Pierella
A2 - Ren, Chao
A2 - Serena, Ricci
A2 - Luca, Rossini
A2 - Fan, Shi
A2 - Susanna, Summa
A2 - Sun, Rongchuan
A2 - Sun, Zhenglong
A2 - Fabio, Vannucci
A2 - Wang, Gang
A2 - Wang, Wei
A2 - Wang, Xin
A2 - Wang, Yuquan
A2 - Wang, Ziya
A2 - Wu, Qingxiang
A2 - Wu, Xiaojun
A2 - Sun, Yuxin
A2 - Yan, Youcan
A2 - Yang, Lei
A2 - Iori, Yanokura
A2 - Zhang, Jingfan
A2 - Zhang, Shuai
A2 - Zhang, Tianwei
A2 - Zhao, Jinglei
A2 - Zhao, Na
A2 - Zhou, Chengxu
A2 - Zhou, Peng
A2 - Zhu, Haifei
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
Y2 - 4 December 2023 through 9 December 2023
ER -
Wen M, Guo J, Zhou Y, Zhang J, Yue Y, Wang D. Traversability Analysis for Unmanned Ground Vehicles Based on Multi-modal Information Fusion. 在 Dogar M, Fang B, Kanoulas D, Pan J, Sciutti A, Zhao M, Bao G, Joao B, Hylke BJ, Chen H, Teng C, Cui Y, Giulio D, Ding W, Du L, Andre F, Gao Y, Shun H, He L, Hou T, Hu Z, Huang Z, George JM, Ji Y, Doreen J, Ju F, Bilal K, Wansoo K, Kiyokawa T, Li H, Li P, Li S, Li X, Liao J, Jie L, Liu C, Liu Q, Lu L, Luo Q, Luo Y, Mao Z, Uriel MH, Takahiro M, Luan NT, Takuzumi N, Dario P, Camilla P, Ren C, Serena R, Luca R, Fan S, Susanna S, Sun R, Sun Z, Fabio V, Wang G, Wang W, Wang X, Wang Y, Wang Z, Wu Q, Wu X, Sun Y, Yan Y, Yang L, Iori Y, Zhang J, Zhang S, Zhang T, Zhao J, Zhao N, Zhou C, Zhou P, Zhu H, 编辑, 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023). doi: 10.1109/ROBIO58561.2023.10354928