Occlusions in obstacle detection for safe navigation
M. Sadou, Vladimir Polotski, Paul R. Cohen · 2004
Obstacles detection is essential to safe autonomous platform navigation. The obstacle detection methods proposed in the literature do not pay sufficient attention to the occlusion-problem caused by the existence of regions along the trajectory of a vehicle that are hidden by other objects and where potential obstacles might be located. Our approach takes occlusions into account to prevent the possibility of collision. Experimental results with a robotic platform demonstrating the effectiveness of the developed algorithm are presented.