TY - GEN
T1 - UAV-aided Large-scale Map Building and Road Extraction for UGV
AU - Meiling, Wang
AU - Huachao, Yu
AU - Guoqiang, Feng
AU - Yi, Yang
AU - Yafeng, Li
AU - Tong, Liu
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/8/24
Y1 - 2018/8/24
N2 - Due to the limited visual field of UGV, it is difficult to detect the accessible zone in a wide range of area in real time. This paper proposes a UAV-aided autonomous road network construction method where roads are previously unknown for UGV navigation. First, SIFT and RANSAC algorithms are applied to obtain the homography of UAV sequential images, through which these images are stitched to a large-scale map. Next, least square fitting algorithm and RDP algorithm are applied to extract initial road area and then obtain road network suitable for UGV navigation by topological processing and skeleton extraction. The experiments show that this UAV-aided method is effective in generating a large-scale road network map for UGV driving through unknown environment without human intervention.
AB - Due to the limited visual field of UGV, it is difficult to detect the accessible zone in a wide range of area in real time. This paper proposes a UAV-aided autonomous road network construction method where roads are previously unknown for UGV navigation. First, SIFT and RANSAC algorithms are applied to obtain the homography of UAV sequential images, through which these images are stitched to a large-scale map. Next, least square fitting algorithm and RDP algorithm are applied to extract initial road area and then obtain road network suitable for UGV navigation by topological processing and skeleton extraction. The experiments show that this UAV-aided method is effective in generating a large-scale road network map for UGV driving through unknown environment without human intervention.
UR - http://www.scopus.com/inward/record.url?scp=85053831220&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2017.8446253
DO - 10.1109/CYBER.2017.8446253
M3 - Conference contribution
AN - SCOPUS:85053831220
SN - 9781538604892
T3 - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
SP - 1208
EP - 1213
BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Y2 - 31 July 2017 through 4 August 2017
ER -