Ground plane detection for autonomous vehicle in rainforest terrain

Chee Way Teoh; Ching Seong Tan; Yong Chai Tan

doi:10.1109/STUDENT.2010.5687001

Ground plane detection for autonomous vehicle in rainforest terrain

Chee Way Teoh, Ching Seong Tan, Yong Chai Tan

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper presents the determination of the ground plane method for navigation in rainforest terrain using stereo vision. Ground plane detection plays an important role for obstacle detection task as it act as the reference plane of the scene. V-disparity image is widely used to detect the ground plane for on-road and off-road navigation. However, it relies on distinct road features such as lines and edges which may not exist in rainforest terrain. In this work, we attempted to use colour clustering method to extract possible ground profile even without using distinct road features.

Original language	English
Title of host publication	IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet
Pages	7-12
Number of pages	6
DOIs	https://doi.org/10.1109/STUDENT.2010.5687001
Publication status	Published - 2010
Externally published	Yes
Event	IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Kuala Lumpur, Malaysia Duration: 20 Nov 2010 → 21 Nov 2010

Publication series

Name	IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet

Conference

Conference	IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010
Country/Territory	Malaysia
City	Kuala Lumpur
Period	20/11/10 → 21/11/10

Keywords

Ground plane
Rainforest terrain
V-disparity image

ASJC Scopus subject areas

Renewable Energy, Sustainability and the Environment

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/STUDENT.2010.5687001

Cite this

Teoh, C. W., Tan, C. S., & Tan, Y. C. (2010). Ground plane detection for autonomous vehicle in rainforest terrain. In IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet (pp. 7-12). Article 5687001 (IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet). https://doi.org/10.1109/STUDENT.2010.5687001

Teoh, Chee Way ; Tan, Ching Seong ; Tan, Yong Chai. / Ground plane detection for autonomous vehicle in rainforest terrain. IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet. 2010. pp. 7-12 (IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet).

@inproceedings{58d5b89b12594724a3be4f24812192a6,

title = "Ground plane detection for autonomous vehicle in rainforest terrain",

abstract = "This paper presents the determination of the ground plane method for navigation in rainforest terrain using stereo vision. Ground plane detection plays an important role for obstacle detection task as it act as the reference plane of the scene. V-disparity image is widely used to detect the ground plane for on-road and off-road navigation. However, it relies on distinct road features such as lines and edges which may not exist in rainforest terrain. In this work, we attempted to use colour clustering method to extract possible ground profile even without using distinct road features.",

keywords = "Ground plane, Rainforest terrain, V-disparity image",

author = "Teoh, {Chee Way} and Tan, {Ching Seong} and Tan, {Yong Chai}",

year = "2010",

doi = "10.1109/STUDENT.2010.5687001",

language = "English",

isbn = "9781424475032",

series = "IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet",

pages = "7--12",

booktitle = "IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet",

note = "IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 ; Conference date: 20-11-2010 Through 21-11-2010",

}

Teoh, CW, Tan, CS & Tan, YC 2010, Ground plane detection for autonomous vehicle in rainforest terrain. in IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet., 5687001, IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet, pp. 7-12, IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010, Kuala Lumpur, Malaysia, 20/11/10. https://doi.org/10.1109/STUDENT.2010.5687001

Ground plane detection for autonomous vehicle in rainforest terrain. / Teoh, Chee Way; Tan, Ching Seong; Tan, Yong Chai.
IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet. 2010. p. 7-12 5687001 (IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents the determination of the ground plane method for navigation in rainforest terrain using stereo vision. Ground plane detection plays an important role for obstacle detection task as it act as the reference plane of the scene. V-disparity image is widely used to detect the ground plane for on-road and off-road navigation. However, it relies on distinct road features such as lines and edges which may not exist in rainforest terrain. In this work, we attempted to use colour clustering method to extract possible ground profile even without using distinct road features.

AB - This paper presents the determination of the ground plane method for navigation in rainforest terrain using stereo vision. Ground plane detection plays an important role for obstacle detection task as it act as the reference plane of the scene. V-disparity image is widely used to detect the ground plane for on-road and off-road navigation. However, it relies on distinct road features such as lines and edges which may not exist in rainforest terrain. In this work, we attempted to use colour clustering method to extract possible ground profile even without using distinct road features.

KW - Ground plane

KW - Rainforest terrain

KW - V-disparity image

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U2 - 10.1109/STUDENT.2010.5687001

DO - 10.1109/STUDENT.2010.5687001

M3 - Conference contribution

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SN - 9781424475032

T3 - IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet

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BT - IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet

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ER -

Teoh CW, Tan CS, Tan YC. Ground plane detection for autonomous vehicle in rainforest terrain. In IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet. 2010. p. 7-12. 5687001. (IEEE Conference on Sustainable Utilization and Development in Engineering and Technology 2010, STUDENT 2010 - Conference Booklet). doi: 10.1109/STUDENT.2010.5687001

Ground plane detection for autonomous vehicle in rainforest terrain

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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Cite this