Research of Obstacle Recognition Technology in Cross-Country Environment for Unmanned Ground Vehicle

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="531681.fig.008a" src="https://static.hindawi.com/articles/mpe/volume-2014/531681/figures/531681.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b><svg height="11.75" id="M29" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 8.2875004 11.75" width="8.2875004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.4)"><path d="M457 488l-30 -3q-17 148 -131 148q-53 0 -84.5 -34.5t-31.5 -82.5q0 -42 25.5 -72t74.5 -62l33 -22q63 -42 95 -85t32 -102q0 -84 -67 -137t-163 -53q-58 0 -113 22t-70 43l-4 152l27 4q4 -32 15 -62.5t31 -59.5t53.5 -47t76.5 -18q56 0 92 35t36 96q0 39 -25 70t-78 68
l-31 22q-32 23 -53.5 41.5t-45 57t-23.5 77.5q0 82 58 132.5t156 50.5q46 0 101 -17l18.5 -6t17 -6t8.5 -3q-4 -55 0 -147z" id="x1D446"></path></g>
</svg>-feature values</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="531681.fig.008b" src="https://static.hindawi.com/articles/mpe/volume-2014/531681/figures/531681.fig.008b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b><svg height="7.9499998" id="M30" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 8.7250004 7.9499998" width="8.7250004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M483 97q-42 -50 -88.5 -79.5t-68.5 -29.5q-37 0 -17 93l22 102h-2q-54 -79 -144 -149q-59 -46 -100 -46q-24 0 -43 29t-19 86q0 78 34.5 153t94.5 120q41 31 94 51.5t98 20.5q29 0 72 -9q26 -6 39 -6l2 -4q-30 -117 -67 -323q-8 -41 2 -41q16 0 79 58zM374 387
q-32 15 -73 15q-52 0 -83 -23q-48 -36 -78 -108.5t-30 -152.5q0 -33 8.5 -50.5t20.5 -17.5q31 0 107 79t99 132q15 40 29 126z" id="x1D44E"></path></g>
</svg>-feature values</td></tr></table></td></tr></table>

<table>The statistical diagram of color feature.</table>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: Research of Obstacle Recognition Technology in Cross-Country Environment for Unmanned Ground Vehicle 