Abstract
The line structured light method is applied to recognize environment of Unmanned Ground Vehicle (UGV) in this paper. A novel line structured light sensor is proposed for long-range, day & time detection of water obstacle detection. The mathematical model of the line structured light sensor is established to measure water obstacles. The variation law that structured light stripe shape and gray is varied to different obstacles is summarized. A new method is proposed to extract the contour of the water hazard. A novel filtering is proposed to meet different noise density. A lot of experiments show that the line structured light sensor can detect meters water hazard, and has the advantages of fast and accurate.
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