Analysis and Removal of Artifacts in 3-D LADAR Data

John Tuley, Nicolas Vandapel, and Martial Hebert
IEEE International Conference on Robotics and Automation, May, 2005, pp. 2203 - 2210.


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Abstract
Errors in laser based range measurements can be divided into two categories: intrinsic sensor errors (range drift with temperature, systematic and random errors), and errors due to the interaction of the laser beam with the environment. The former have traditionally received attention and can be modeled. The latter in contrast have long been observed but not well characterized. We propose to do so in this paper. In addition, we present a sensor independent method to remove such artifacts. The objective is to improve the overall quality of 3-D scene reconstruction to perform terrain classification of scenes with vegetation.

Notes
Sponsor: Army Research Laboratory
Grant ID: DAAD19-01-209912
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics
Number of pages: 8

Text Reference
John Tuley, Nicolas Vandapel, and Martial Hebert, "Analysis and Removal of Artifacts in 3-D LADAR Data," IEEE International Conference on Robotics and Automation, May, 2005, pp. 2203 - 2210.

BibTeX Reference
@inproceedings{Vandapel_2005_4876,
   author = "John Tuley and Nicolas Vandapel and Martial Hebert",
   title = "Analysis and Removal of Artifacts in 3-D LADAR Data",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "2203 - 2210",
   month = "May",
   year = "2005",
}