Construction of Special Obstacle Dataset and Detection Algorithm Evaluation System in Air-ground Collaborative Scenarios

doi:10.12382/bgxb.2024.0583

Abstract

Abstract:

The recognition and handling of special obstacles are critical to ensuring the safe operation of ground equipment in air-ground collaborative scenarios.To address the lack of data samples in unstructured environments,a detection dataset comprising 33124 images is developed,featuring a wide range of typical special obstacles to support the recognition tasks in complex scenes.A comprehensive evaluation index integrating the category information and localization accuracy is designed to enhance the objectivity and reliability of algorithm performance comparisons.Additionally,a passability analysis method is proposed,which combines the physical properties with the environmental semantics to guide path planning for unmanned ground systems.Experimental results demonstrate that the proposed dataset and evaluation framework significantly improve detection accuracy,and the method effectively identifies typical obstacles such as potholes and water surfaces in unstructured environments.

Key words: special obstacle detection, ground-air collaboration, dataset construction, passability strategy

CLC Number:

TP242

LENG Chengyu, ZHAO Jin, LIU Chang, YANG Shifeng. Construction of Special Obstacle Dataset and Detection Algorithm Evaluation System in Air-ground Collaborative Scenarios[J]. Acta Armamentarii, 2025, 46(6): 240583-.

Figures/Tables 18

References 22

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数据集	视角	障碍物类别	场景覆盖
GRACO数据集^[6]	地面, 空中	建筑相关障碍物	静态城市建筑
UDTIRI数据集^[7]	地面	道路坑洞	城市道路
GRDDC数据集^[8]	地面	道路裂缝、坑洞	道路环境
NPDOID数据集^[21]	地面	坑洼障碍物	道路环境
本文数据集	地面, 空中	常规障碍物(行人、车辆等) 特殊障碍物(石块、水坑等)	空地协同动态场景

数据集	视角	障碍物类别	场景覆盖
GRACO数据集^[6]	地面, 空中	建筑相关障碍物	静态城市建筑
UDTIRI数据集^[7]	地面	道路坑洞	城市道路
GRDDC数据集^[8]	地面	道路裂缝、坑洞	道路环境
NPDOID数据集^[21]	地面	坑洼障碍物	道路环境
本文数据集	地面, 空中	常规障碍物(行人、车辆等) 特殊障碍物(石块、水坑等)	空地协同动态场景

特殊障碍物对象	标注数目	潜在特殊障碍物对象	标注数目
坑洞	48509	物料堆	1684
水面	22384	管道	2383
沟槽	1315	石块	21948

特殊障碍物对象	标注数目	潜在特殊障碍物对象	标注数目
坑洞	48509	物料堆	1684
水面	22384	管道	2383
沟槽	1315	石块	21948

常规障碍物对象	标注数目	常规障碍物对象	标注数目
三轮车	3844	摩托车	36107
自行车	11678	行人	95716
公交车	8241	卡车	14626
汽车	168283	面包车	29948