Search NASA⌕ Search
Home/Archive/NASA NTRS

NASA NTRS · 20050180253

Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation

Rankin, A. L.·Matthies, L. H.·Huertas, A.
View original source ↗Export metadata ↓

Abstract

Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting the presence of water during the daytime using color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of reflections in stereo range data. A rule base for fusing water cues was developed by evaluating detection results from an extensive archive of data collection imagery containing water. This software has been implemented into a run-time passive perception subsystem and tested thus far under Linux on a Pentium based processor.

Explore related subjects

COMPONENT REPORTSWATER CUESDETECTIONAUTONOMOUS NAVIGATIONCAMERASWATERUNMANNEDCOMPUTER PROGRAMSCOLORSDAYRULE BASED SYSTEMSHAZARDSOFFROAD TRAFFICSYMPOSIA

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Rankin, A. L., Matthies, L. H., Huertas, A.. 2004-12-01. Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation. https://ntrs.nasa.gov/citations/20050180253

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related reports

NASA NTRS2005

Impact of the Sun on Remote Sensing of Sea Surface Salinity from Space

The sun is a sufficiently strong source of radiation at L-band to be an important source of interference for radiometers on future satellite missions such as SMOS, Aquarius, and Hydros designed to monitor soil moisture and sea surface salinity. Radiation from the sun can impact passive remote sensing systems in several ways, including line-of-sight radiation that comes directly from the sun and enters through antenna side lobes and radiation that is reflected from the surface to the radiometer. Examples are presented in the case of Aquarius, a pushbroom radiometer with three beams designed to monitor sea surface salinity. Near solar minimum, solar contamination is not a problem unless the sun enters near the main beam. But near solar maximum, contamination from the sun equivalent to a change of salinity on the order of 0.1 psu can occur even when the signal enters in sidelobes far from the main beam.

COMPONENT REPORTS↗