For mobile robots operating in outdoor environments, per- ception is a critical task. Construction, mining, agriculture, and planetary exploration are common examples where the presence of dust, smoke, and rain, and the change in lighting conditions can dramatically degrade conventional vision and laser sensing. Nonetheless, environment perception can still succeed under compromised visibility through the use of a millimeter-wave radar. This paper presents a novel method for scene segmentation using a short-range radar mounted on a ground vehicle. Issues relevant to radar perception in an outdoor environment are described along with eld experiments and a quantitative comparison to laser data. The ability to classify the scene and signicant improvement in range accuracy are demonstrated showing the utility of millimeter-wave radar as a robotic sensor for persistent and accurate perception in natural scenarios.
Short-range Radar Perception in Outdoor Environments
REINA, GIULIO;
2011-01-01
Abstract
For mobile robots operating in outdoor environments, per- ception is a critical task. Construction, mining, agriculture, and planetary exploration are common examples where the presence of dust, smoke, and rain, and the change in lighting conditions can dramatically degrade conventional vision and laser sensing. Nonetheless, environment perception can still succeed under compromised visibility through the use of a millimeter-wave radar. This paper presents a novel method for scene segmentation using a short-range radar mounted on a ground vehicle. Issues relevant to radar perception in an outdoor environment are described along with eld experiments and a quantitative comparison to laser data. The ability to classify the scene and signicant improvement in range accuracy are demonstrated showing the utility of millimeter-wave radar as a robotic sensor for persistent and accurate perception in natural scenarios.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
