关键词: 障碍检测, 显著性分析, 图像分割, 地面无人车

Abstract: Obstacle detection is an important task in the field of environmental perception for unmanned ground vehicles. Due to the huge calculation and low segmentation precision of general obstacle detection and segmentation, a novel saliency-based obstacle detection and segmentation algorithm is proposed. Firstly, the saliency map of the scene image is generated based on the frequency tuning method. Then, the radar reflection point is mapped to the saliency map by the joint calibration of the camera and the laser radar. Finally, combined with the single camera and laser radar two kinds of sensor information, through the improved image region segmentation algorithm, obstacle detection and segmentation are achieved. In order to verify the effectiveness of the algorithm, a lot of images with various obstacles in cross-country environment are captured. The experimental results show that the algorithm is reliable.

Key words: obstacle detection, saliency detection, image segmentation, unmanned ground vehicle