umu.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Visual tree detection for autonomous navigation in forest environment
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2008 (English)In: IEEE Intelligent Vehicles SymposiumConference Location: Eindhoven, NETHERLANDS, 2008, , 1144-1149 p.1144-1149 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes a classification based tree detection method for autonomous navigation of forest vehicles in forest environment. Fusion of color, and texture cues has been used to segment the image into tree trunk and background objects. The segmentation of images into tree trunk and background objects is a challenging task due to high variations of illumination, effect of different color shades, non-homogeneous bark texture, shadows and foreshortening. To accomplish this, the approach has been to find the best combinations of color, and texture descriptors, and classification techniques. An additional task has been to estimate the distance between forest vehicle and the base of segmented trees using monocular vision. A simple heuristic distance measurement method is proposed that is based on pixel height and a reference width. The performance of various color and texture operators, and accuracy of classifiers has been evaluated using cross validation techniques.

Place, publisher, year, edition, pages
2008. , 1144-1149 p.1144-1149 p.
Identifiers
URN: urn:nbn:se:umu:diva-23228OAI: oai:DiVA.org:umu-23228DiVA: diva2:222269
Available from: 2009-06-08 Created: 2009-06-08 Last updated: 2013-02-04

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Ali, WGeorgsson, FredrikHellström, Thomas
By organisation
Department of Computing Science

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 108 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf