The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

In this paper we address the problem of assessing quantitatively the quality of traversability maps computed from data collected by an airborne laser range finder. Such data is used to plan paths for an unmanned ground vehicle (UGV) prior to the execution of long range traverses. Little attention has been devoted to the problem we address in this paper. We use a unique data set of geodetic control points, real robot navigation data, ground LIDAR (LIght Detection And Ranging) data and aerial imagery, collected during a week long demonstration to support our work.

Keywords

lidar, path planning, evaluation

Notes

Sponsor: DARPA

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

Number of pages: 6

Text Reference

Nicolas Vandapel, Raghavendra Rao Donamukkala, and Martial Hebert, "Quality Assessment of Traversability Maps from Aerial LIDAR Data for an Unmanned Ground Vehicle," International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 305 - 310.

BibTeX Reference

@inproceedings{Vandapel_2003_4425,
   author = "Nicolas Vandapel and Raghavendra Rao Donamukkala and Martial Hebert",
   title = "Quality Assessment of Traversability Maps from Aerial LIDAR Data for an Unmanned Ground Vehicle",
   booktitle = "International Conference on Intelligent Robots and Systems (IROS)",
   pages = "305 - 310",
   month = "October",
   year = "2003",
   volume = "1",
}

The Robotics Institute

Menu