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This software has been designed to detect water bodies that are out in the open on cross-country terrain at mid- to far-range (approximately 20 100 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). Specifically, this software attempts to solve the problem of detecting still water bodies on cross-country terrain in cluttered areas at low cost. But in cluttered areas where reflections of objects in the background dominate the appearance of the surface of still water bodies, detection based on sky reflections is of marginal value. Still water bodies in wide-open areas can be detected by geometrically locating the exact pixels in the sky that are reflecting on candidate water pixels on the ground, predicting if ground pixels are water based on color similarity to the sky and local terrain features. One of the properties useful for detecting still water bodies is that their surface acts as a horizontal mirror at high incidence angles. Thus, robust water detection is a critical perception requirement for UGV autonomous navigation. Additionally, a UGV that is either broken down due to water damage or becomes stuck in a water body during an autonomous operation will require rescue, potentially drawing critical resources away from the primary operation and increasing the operation cost. Traversing through deep water bodies could cause costly damage to the electronics of UGVs. Water bodies are challenging terrain hazards for terrestrial unmanned ground vehicles (UGVs) for several reasons. Water Detection Based on Object Reflections Water detection has been integrated on XUVs. Water detection based on sky reflections: (1) geometrically locates the pixel in the sky that is reflecting on a candidate water pixel on the ground (2) predicts if the ground pixel is water based on color similarity and local terrain features. A reflection coefficient model suggests sky reflections dominate the color of water at ranges > 12 meters. Water detection based on sky reflections and color variation are complementary. Rankin, Arturo Matthies, Larry Bellutta, PaoloĪ water body s surface can be modeled as a horizontal mirror. Daytime Water Detection Based on Sky Reflections