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Journal of Zhejiang University SCIENCE A 2009 Vol.10 No.6 P.786-793


Robust water hazard detection for autonomous off-road navigation

Author(s):  Tuo-zhong YAO, Zhi-yu XIANG, Ji-lin LIU

Affiliation(s):  Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   thomasyao@zju.edu.cn, xiangzy@zju.edu.cn

Key Words:  Water hazard detection, Active learning, Adaboost, Mean-shift

Tuo-zhong YAO, Zhi-yu XIANG, Ji-lin LIU. Robust water hazard detection for autonomous off-road navigation[J]. Journal of Zhejiang University Science A, 2009, 10(6): 786-793.

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T1 - Robust water hazard detection for autonomous off-road navigation
A1 - Tuo-zhong YAO
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Existing water hazard detection methods usually fail when the features of water surfaces are greatly changed by the surroundings, e.g., by a change in illumination. This paper proposes a novel algorithm to robustly detect different kinds of water hazards for autonomous navigation. Our algorithm combines traditional machine learning and image segmentation and uses only digital cameras, which are usually affordable, as the visual sensors. active learning is used for automatically dealing with problems caused by the selection, labeling and classification of large numbers of training sets. mean-shift based image segmentation is used to refine the final classification. Our experimental results show that our new algorithm can accurately detect not only ‘common’ water hazards, which usually have the features of both high brightness and low texture, but also ‘special’ water hazards that may have lots of ripples or low brightness.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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Open peer comments: Debate/Discuss/Question/Opinion


Teoh Chee Way@UTAR<teohcw@utar.edu.my>

2010-11-02 23:10:10

Dear Yao,

I am very interested in your work "Robust water hazard detection for autonomous off-road navigation". However, I could not access it under Springerlink as the journal is not under my subscription.

I seek your assistance to provide a copy of your work. I would like to see in details of your work.

Your help will be very much appreciated.

Thank you.

Best Regards,
Teoh Chee Way

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