Obstacle detection is a complex task involving detection of obstacle features, identification of appropriate sensor and environmental conditions. The development of water hazard detection in the past two dec-ades can be regarded as a microcosm of the history of typical obstacle detection. This review provides an extensive study of water hazard detection papers spanning a quarter-century (the 1990 s to 2021). The review mainly focuses on the width of water hazards, features of water hazards, sensor types for the detection of water hazards, and environmental light. This paper analyses and summarizes the research overview and status of some research institutions in the field over the past 20 years, hoping to provide some reference for UGV water hazard detection. In addition, the existing water hazard detec-tion problems are summarized, and future development trends are proposed.(c) 2022 ISTVS. Published by Elsevier Ltd. All rights reserved.
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