{"paper":{"title":"Vision-based Obstacle Removal System for Autonomous Ground Vehicles Using a Robotic Arm","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edgar Lobaton, Jeremy Cole, Kevin Han, Khashayar Asadi, Mingda Sun, Mojtaba Noghabaei, Rahul Jain, Ziqian Qin","submitted_at":"2019-01-24T00:36:11Z","abstract_excerpt":"Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground are challenging environments for a mobile unmanned ground vehicle (UGV) to navigate. To address this issue, this study presents a mobile UGV equipped with a stereo camera and a robotic arm that can remove obstacles along the UGV's path. To achieve this objective, the surrounding environment is captured by the stereo camera and obstacles are detected. The ob"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.08180","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}