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, realtime 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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