Topic
Obstacle
About: Obstacle is a research topic. Over the lifetime, 9517 publications have been published within this topic receiving 94760 citations. The topic is also known as: impediment & barrier.
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TL;DR: In this article, a Markov random field framework is adopted and a highly efficient algorithm for simultaneous optimization of model parameters and segmentation mask estimation is derived, which does not require computationally intensive extraction of texture features and comfortably runs in realtime.
Abstract: Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which presents a significant challenge to continuous detection from images taken onboard. This paper addresses the problem of online detection by constrained unsupervised segmentation. To this end, a new graphical model is proposed that affords a fast and continuous obstacle image-map estimation from a single video stream captured onboard a USV. The model accounts for the semantic structure of marine environment as observed from USV by imposing weak structural constraints. A Markov random field framework is adopted and a highly efficient algorithm for simultaneous optimization of model parameters and segmentation mask estimation is derived. Our approach does not require computationally intensive extraction of texture features and comfortably runs in real-time. The algorithm is tested on a new, challenging, dataset for segmentation and obstacle detection in marine environments, which is the largest annotated dataset of its kind. Results on this dataset show that our model outperforms the related approaches, while requiring a fraction of computational effort.
76 citations
Patent•
22 Apr 2002
TL;DR: In this paper, an obstacle existing ahead of a vehicle is recognized to detect information on the obstacle and the vehicle, and the steering performance of the vehicle is changed for controlling behaviors of vehicle.
Abstract: An obstacle existing ahead of a vehicle is recognized to detect information on the obstacle. Information on travelling conditions of the vehicle is detected. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. It is determined whether the vehicle can avoid collision with the obstacle only by a driver's braking operation based on at least the information on the obstacle and the vehicle. The vehicle enters into an evasive driving mode in accordance with a driver's steering operation when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver's braking operation. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. It is determined whether the vehicle has been maneuvered for avoiding collision with the obstacle. The vehicle is released from the evasive driving mode when it is determined that the vehicle has not been maneuvered for avoiding collision with the obstacle even though the vehicle has reached the obstacle in the evasive driving mode.
75 citations
08 Sep 2013
TL;DR: It is found that the system can be learned within minutes and that participants can successfully navigate through an obstacle course with few collisions.
Abstract: We present a system designed to help blind people navigate around obstacles. Our system perceives the environment in front of the user using a depth camera (a Microsoft Kinect). The system identifies nearby structures from the depth map and uses sonification to convey obstacle information to the user. The system has undergone a formative evaluation involving eight blind-folded participants and one blind participant. We found that our system can be learned within minutes and that participants can successfully navigate through an obstacle course with few collisions.
75 citations
TL;DR: In this article, the authors developed a planning method that generates a feasible area coverage plan for agricultural machines executing non-capacitated operations in fields inhabiting multiple obstacle areas, where the first two stages regard the generation of the field geometrical representation where the field is split into sub-fields and each sub-field is covered by parallel tracks, while the third stage regards the optimization of the block sequence aiming at minimizing the traveled distance to connect the blocks.
75 citations
Patent•
02 Jun 2011TL;DR: In this article, an autonomous mobile body capable of moving in an autonomously set waiting-position direction without presetting a stop zone so that a movable obstacle can safely pass through is presented.
Abstract: Provided is an autonomous mobile body capable of moving in an autonomously set waiting-position direction without presetting a stop zone so that a movable obstacle can safely pass through. The autonomous mobile body (1) comprises: a storage unit (22) for storing the size (D2) of the autonomous mobile body (1); a laser range finder (12) for obtaining obstacle information; an obstacle specifying unit (233) for, on the basis of the obtained obstacle information, specifying edge points (86) indicating the positions of both ends of a region where an interference obstacle (66) is present, which are in a direction substantially orthogonal to the movement target direction (72) of the autonomous mobile body (1) in a plane parallel to a passage plane; a direction setting unit (237) for, on the basis of the size (D2) of the autonomous mobile body (1) and the edge points (86), setting the waiting-position direction; and a movement control unit (25) for performing control so that the autonomous mobile body (1) heads in the waiting-position direction.
75 citations