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Foliage discrimination using a rotating ladar

Show simple item record Castano, A. en_US Matthies, L. en_US 2004-09-20T19:49:45Z 2004-09-20T19:49:45Z 2003-05-12 en_US
dc.identifier.citation 2003 IEEE International Conference on Robotics and Automation en_US
dc.identifier.citation Taipei, Taiwan en_US
dc.identifier.clearanceno 02-3169 en_US
dc.description.abstract We present a real time algorithm that detects foliage using range from a rotating laser. Objects not classified as foliage are conservatively labeled as non-driving obstacles. In contrast to related work that uses range statistics to classify objects, we exploit the expected localities and continuities of an obstacle, in both space and time. Also, instead of attempting to find a single accurate discriminating factor for every ladar return, we hypothesize the class of some few returns and then spread the confidence (and classification) to other returns using the locality constraints. The Urbie robot is presently using this algorithm to descriminate drivable grass from obstacles during outdoor autonomous navigation tasks. en_US
dc.format.extent 3798468 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US
dc.subject.other Autonomous navigation range robots en_US
dc.title Foliage discrimination using a rotating ladar en_US

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