Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation
Conference Paper, Proceedings of 23rd Army Science Conference, December, 2002
Abstract
Autonomous navigation remains a considerable challenge, primarily because of the difficulty in describing the environment of the robot in a way that captures the variability of natural environments. In this paper, we focus on the problem of extracting the ground terrain surface from sparse 3-D data from LADAR mobility sensors, including the segmentation of the terrain from obscuring vegetation. We summarize three approaches to LADAR processing and discuss their limitations. Experimental evaluation was conducted with a GDRS LADAR sensor and with a Z+F laser range finder.
BibTeX
@conference{Hebert-2002-8594,author = {Martial Hebert and Nicolas Vandapel and Stefan Keller and Raghavendra Rao Donamukkala},
title = {Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation},
booktitle = {Proceedings of 23rd Army Science Conference},
year = {2002},
month = {December},
keywords = {vegetation, mobile robot, autonomous navigation},
}
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