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中文摘要：
这份报纸为无人的地面基于立体声视觉论述一个快障碍察觉系统在未组织的环境的车辆(UGV ) 航行。以便使 UGV 能适应到更复杂的地面，我们从 V 不同图象建议主要地面不同(MGD ) 的一个新评价方法。由把 MGD 的不同与本地 3D 重建作比较，然后，发现并且本地化障碍的一个 coarse-to-fine 方法在报纸被介绍。障碍察觉系统在一些室外的未组织的环境在我们的 UGV 平台上实际上被测试。试验性的结果验证我们的系统的功效。
英文摘要：
This paper presents a fast obstacle detection system based on stereo vision for unmanned ground vehicle （UGV） navigation in unstructured environment.In order to make the UGV adaptable to more complex terrains,we propose a new estimation method of the main ground disparity （MGD） from the V-disparity images.Then,by comparing the disparity of the MGD with local 3D reconstruction,a coarse-to-fine method to find and localize obstacles is introduced in the paper.The obstacle detection system is tested practically on our UGV platform in some outdoor unstructured environments.The experimental results validate the effcacy of our system.
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