Enhanced Extraction of a Traversable Region by Combining Scene Clustering with 3D World Modeling based on CCD/IR Image

J. Kim, J.-H. Kim, S.-D. Sim, and J.-S. Chae (Korea)


Traversable Region Extraction, CCD/IR Stereo Vision


Accurate extraction of traversable region is a critical issue for autonomous navigation of unmanned ground vehicle (UGV). This paper introduces enhanced extraction of traversable region by combining scene clustering with 3D world modeling using CCD/IR image. Scene clustering is developed with K-means algorithm based on CCD and IR image. 3D world modeling is developed by fusing CCD and IR stereo image. Enhanced extraction of traversable regions is obtained by combining feature of extraction with a clustering method and a geometric characteristic of terrain derived by 3D world modeling.

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