Finding Organized Structures in 3-D Ladar Data

Nicolas Vandapel and Martial Hebert
IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2004, pp. 786 - 791.


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Abstract
In this paper, we address the problem of finding organized thin structures in three-dimensional (3-D) data. Linear and planar structures segmentation received much attention but thin structures organized in complex patterns remain a challenge for segmentation algorithms. We are interested especially in the problems posed by repetitive and symmetric structures acquired with a laser range finder. The method relies on 3-D data projections along specific directions and 2-D histograms comparison. The sensitivity of the classification algorithm to the parameter settings is evaluated and a segmentation method proposed. We illustrate our approach with data from a concertina wire in terrain with vegetation.

Keywords: laser, terrain classification, concertina wire, structure signature, symmetry


Keywords
laser, terrain classification, concertina wire, structure signature, symmetry

Notes
Sponsor: US Army Research Laboratory
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics
Number of pages: 6

Text Reference
Nicolas Vandapel and Martial Hebert, "Finding Organized Structures in 3-D Ladar Data," IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2004, pp. 786 - 791.

BibTeX Reference
@inproceedings{Vandapel_2004_4720,
   author = "Nicolas Vandapel and Martial Hebert",
   title = "Finding Organized Structures in 3-D Ladar Data",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "786 - 791",
   month = "September",
   year = "2004",
   volume = "1",
}