Shortwave infrared fusion for snow surface traversability mapping

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2024-09-17 DOI:10.1016/j.jterra.2024.101010
Anthony T. Fragoso, Sarah M. Piedmont
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Abstract

Estimating the mechanical properties of snow from imagery is an essential part of over-snow vehicle autonomy. However, snow surfaces that differ widely in strength, traction, and motion resistance tend to appear a uniform bright white in visible or broadband infrared imagery, and it is difficult to determine where an oversnow vehicle should operate from imagery alone. In this work we determine the optimal fusion of filtered broadband shortwave infrared (SWIR) imagery to separate snow types with different mechanical properties by appearance. We demonstrate vastly increased discrimination skill in distinguishing snow types using a small number of SWIR cameras in both field and laboratory settings, and also identify sources of environmental context that can improve lookahead sensing for oversnow vehicles. Overall, we show that a small set of inexpensive SWIR filters is a powerful tool for over-snow autonomy and motion planning.

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融合短波红外线绘制雪面可穿越性地图
从图像中估计雪的机械特性是雪地车自动驾驶的重要组成部分。然而,在可见光或宽带红外图像中,强度、牵引力和运动阻力差异很大的雪面往往呈现出统一的亮白色,因此很难仅凭图像确定雪地车的运行位置。在这项工作中,我们确定了滤波宽带短波红外(SWIR)图像的最佳融合方式,以通过外观区分具有不同机械特性的雪类型。我们证明了在野外和实验室环境中使用少量 SWIR 摄像机区分雪类型的辨别能力大大提高,同时还确定了可改善雪地车前瞻性传感的环境背景来源。总之,我们证明了一小套廉价的 SWIR 滤波器是实现雪上自动驾驶和运动规划的强大工具。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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