Real-Time Outdoor Trail Detection on a Mobile Robot

A. Bartel, F. Meyer, C. Sinke, T. Wiemann, A. Nchter, K. Lingemann, and J. Hertzberg (Germany)


road detection and classification, road following, real-time mobile robot control


In this paper we present a reliable approach for real-time outdoor trail following and obstacle avoidance. The trail classification is done using an off-the-shelf webcam and a pitched 2D laser scanner on a KURT2 robot equipped with an Intel Centrino laptop. This simple setup enables us to follow given pathways of different kinds using a GPS receiver for rough orientation.

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