Abstract
Unmanned ground vehicles (UGVs) have great potential in the application of both civilian and military fields, and have become the focus of research in many countries. Environmental perception technology is the foundation of UGVs, which is of great significance to achieve a safer and more efficient performance. This article firstly introduces commonly used sensors for vehicle detection, lists their application scenarios and compares the strengths and weakness of different sensors. Secondly, related works about one of the most important aspects of environmental perception technology—vehicle detection—are reviewed and compared in detail in terms of different sensors. Thirdly, several simulation platforms related to UGVs are presented for facilitating simulation testing of vehicle detection algorithms. In addition, some datasets about UGVs are summarized to achieve the verification of vehicle detection algorithms in practical application. Finally, promising research topics in the future study of vehicle detection technology for UGVs are discussed in detail.
Highlights
The unmanned ground vehicle (UGV) is a comprehensive intelligent system that integrates environmental perception, location, navigation, path planning, decision-making and motion control [1]
The operation of UGVs requires a persistent collection of environmental information, and the efficient collection of environmental information relies on high-precision and and the efficient collection of environmental information relies on high-precision and highhigh-reliability sensors
This paper first introduces the sensors commonly used in UGVs
Summary
The unmanned ground vehicle (UGV) is a comprehensive intelligent system that integrates environmental perception, location, navigation, path planning, decision-making and motion control [1]. It combines high technologies including computer science, data fusion, machine vision, deep learning, etc., to satisfy actual needs to achieve predetermined goals [2]. Environmental perception for UGVs requires various sensors such as Lidar, monocular camera and millimeter-wave radar to collect environmental information as input for planning, decision making and motion controlling system. Vehicle detection is used to extract vehicle targets in a subsequent vehicle behavior prediction to characterizing behavior single frameframes, of an image, vehicle tracking aims to refers reidentify positions of thevehicles’.
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