1. ERDC Knowledge Core
  2. Engineer Research and Development Center (ERDC)
  3. Cold Regions Research Engineering Laboratory (CRREL) - (2/1/1961 - present)
  4. Publication
  5. Technical Report
Please use this identifier to cite or link to this item: https://hdl.handle.net/11681/37259
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dc.contributor.authorVecherin, Sergey N.-
dc.contributor.authorSkaker, Jacob M.-
dc.contributor.authorParker, Michael W.-
dc.date.accessioned2020-07-01T21:55:35Z-
dc.date.available2020-07-01T21:55:35Z-
dc.date.issued2020-06-
dc.identifier.govdocERDC/CRREL TR-20-7-
dc.identifier.urihttps://hdl.handle.net/11681/37259-
dc.identifier.urihttp://dx.doi.org/10.21079/11681/37259-
dc.descriptionTechnical Reporten_US
dc.description.abstractRecently, the focus for military operations has shifted from the desert to cold climates, causing a corresponding shift in the military’s need to better un-derstand the mobility of our current vehicle fleet in these areas. Therefore, this work investigated the effects of winter conditions on military vehicle mo-bility. The main objective was to detect obstacles on the scene. This study developed and tested a method for automatic obstacle detection in the digital elevation model of a scene. The method detects statistical anom-alies relative to an estimated background image that contains no obstacles. The sensitivity of the detection can be adjusted by a specified probability of false alarms, and the obstacle detection confidence is characterized by a probability of detection. The visible height of obstacles above the snow is related to the actual height of the obstacles above the ground. Compared to other detection techniques, the developed method is fast, calibrates itself to the cluttered images, operates with a single given image, and aligns with a detection quantification adopted in the receiver operating characteristic framework. The examples considered in this paper demonstrate high efficiency and applicability of the developed approach to the military vehicle mobility missions.en_US
dc.description.sponsorshipPrepared for Headquarters, U.S. Army Corps of Engineers ; Under Mobility in Complex Environments PE 622145 / Project BG2 / Task SBG202, “Cold Regions Effects in Urban Environments”en_US
dc.description.tableofcontentsAbstract ................................................................................................................................................... ii Figures and Tables ................................................................................................................................. iv Preface ..................................................................................................................................................... v Acronyms and Abbreviations ................................................................................................................ vi 1 Introduction ..................................................................................................................................... 1 1.1 Background ..................................................................................................................... 1 1.2 Objectives ........................................................................................................................ 1 1.3 Approach ......................................................................................................................... 1 2 Detection Methods ......................................................................................................................... 5 2.1 Edge detection ................................................................................................................ 5 2.1.1 General ................................................................................................................................. 5 2.1.2 Different edge detection methods ...................................................................................... 5 2.1.3 Edge detection output ......................................................................................................... 8 2.2 Texture detection .......................................................................................................... 11 2.3 Taking into account a desired obstacle size ............................................................... 12 3 Quantification ............................................................................................................................... 14 4 Application .................................................................................................................................... 18 5 Effects of Snow Depth on Obstacle Detection .......................................................................... 22 6 Conclusions ................................................................................................................................... 25 References ............................................................................................................................................ 26 Report Documentation Page (SF 298) .............................................................................................. 28-
dc.format.extent2.65 MB/36 pages-
dc.format.mediumPDF/A-
dc.language.isoen_USen_US
dc.publisherCold Regions Research and Engineering Laboratory (U.S.)en_US
dc.publisherEngineer Research and Development Center (U.S.)-
dc.relation.ispartofseriesTechnical Report (Engineer Research and Development Center (U.S.));no. ERDC/CRREL TR-20-7-
dc.rightsApproved for public release; distribution is unlimited-
dc.sourceThis Digital Resources was created in Microsoft Word and Adobe Acrobat.-
dc.subjectAlgorithmsen_US
dc.subjectCold regionsen_US
dc.subjectDrone aircraften_US
dc.subjectIceen_US
dc.subjectObstacles (Military science)--Detectionen_US
dc.subjectPhotogrammetryen_US
dc.subjectSnowen_US
dc.subjectTrafficabilityen_US
dc.titleObstacle detection and quantification for vehicle mobility in winter conditionsen_US
dc.typeReport-
Appears in Collections:Technical Report

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