Performance Evaluation Of Ugv Obstacle Detection With Ccd/Flir Stereo Vision And Ladar

The next phase of unmanned ground vehicle (UGV) development sponsored by OSD (the Experimental Unmanned Vehicle, or "Demo III" Program) aims to enable round-the-clock operation with autonomous, cross-country navigation at speeds up to 40 mph on roads, 20 mph by day off road, and 10 mph by night off road. This paper reviews the obstacle sizes that must be detected and lookahead distances that are required to support such driving speeds, then describes data collection and performance evaluation efforts with three different range imaging systems: (1) stereo vision with CCD cameras, (2) stereo vision with InSb FLIR cameras operating in the 3-5 mu m band, and (3) the Dornier EBK LADAR,. The LADAR and the FLIR stereo are applicable to day and night operation; the CCD stereo to day operation only. An extensive data set for this performance evaluation was collected at Aberdeen Proving Ground in November and December 1997. This paper describes the data set and preliminary obstacle detection results obtained with it. Ongoing performance evaluation with this data set will guide obstacle detection sensor selection and development for the Demo III Program.