Abstract-Because of the difficulty of interpreting laser data in a meaningful way, safe navigation in vegetated terrain is still a daunting challenge. In this paper, we focus on the segmentation of ladar data using local 3-D point statistics into three classes: clutter to capture grass and tree canopy, linear to capture thin objects like wires or tree branches, and finally surface to capture solid objects like ground terrain surface, rocks or tree trunks. We present the details of the method proposed, the modifications we made to implement it on-board an autonomous ground vehicle. Finally, we present results from field tests using this rover and results produced from different stationary laser sensors.
As an example, REF acquire information about terrain using a LIDAR and using local 3D point statistics segment it into three classes: clutter to capture grass and tree canopy, linear to capture thin objects like wires or tree branches, and finally surface to capture solid objects like ground terrain surface, rocks or tree trunks.
Natural terrain classification using 3-d ladar data
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Engineering Computer Science