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Abstract

This paper describes tecliniques tor outdoor scene analysis using range data. The purpose of these techniques is to build a 3-D representation of the environment of an mobile robot equipped with a range sensor. Algorithms are presented for scene segmentation. object detection, map building, and object recognition.

We present results obtained in an outdoor navigation environment in which a laser range finder is mounted on a vehicle. These results have been successfully applied to the problem of path planning through obstacles.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): NavLab

Number of pages: 7

Text Reference

Martial Hebert and Takeo Kanade, "Outdoor Scene Analysis Using Range Data," Proc. 1986 IEEE International Conference on Robotics and Automation, April, 1986, pp. 1426-1432.

BibTeX Reference

@inproceedings{Hebert_1986_2428,
   author = "Martial Hebert and Takeo Kanade",
   title = "Outdoor Scene Analysis Using Range Data",
   booktitle = "Proc. 1986 IEEE International Conference on Robotics and Automation",
   pages = "1426-1432",
   month = "April",
   year = "1986",
   volume = "3",
}

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