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

Table 2

The range of color feature for three kinds of obstacles.

Obstacle	𝑆-feature	𝑎-feature	Verticality
Trunk	[0.1800, 0.2120]	[2.1973, 2.7785]	[0.6658, 0.6988]
High shrubs	[0.4402, 0.4780]	[−2.8929, −1.9970]	[0.4552, 0.4936]
Dwarf shrubs	[0.3642, 0.3893]	[1.1993, 1.8912]	[0.2102, 0.2320]