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RI | Publications | Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
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Text only version of this site
Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
J. Lalonde, N. Vandapel, and M. Hebert
tech. report CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006.
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| Abstract |
In this paper, we propose an approach that enables automatic, fast and accurate tree trunks segmentation from three-dimensional (3-D) laser data. Results have been demonstrated in real-time on-board a ground mobile robot. In addition, we propose an approach to estimate tree diameter at breast height (dbh) that was tested off-line on a variety of ground laser scanner data. Results are also presented for detection of tree trunks in aerial laser data. The underlying techniques using in all cases rely on 3-D geometry analysis of point clouds and geometric primitives fitting.
| Notes |
Associated centers: VASC and FRC
Associated lab/group: NavLab
Associated project: CTA Robotics
Number of pages: 22
| Text Reference |
J. Lalonde, N. Vandapel, and M. Hebert, Automatic Three-Dimensional Point Cloud Processing for Forest Inventory, tech. report CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006.
| BibTeX Reference |
@techreport{Lalonde_2006_5480,
author = "Jean-Francois Lalonde and Nicolas Vandapel and Martial Hebert",
title = "Automatic Three-Dimensional Point Cloud Processing for Forest Inventory",
institution = "Robotics Institute, Carnegie Mellon University",
month = "July",
year = "2006",
number = "CMU-RI-TR-06-21",
address = "Pittsburgh, PA"
}