DocumentCode
1654648
Title
Iterative registration of 3D LADAR data for autonomous navigation
Author
Madhavan, R. ; Messina, E.
Author_Institution
Div. of Intelligent Syst., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
fYear
2003
Firstpage
186
Lastpage
191
Abstract
This paper describes an iterative algorithm for registration of 3D LADAR data. The proposed approach is iconic in nature with suitable modifications to deal with false/spurious matches, occlusions and outliers. Experimental results using data obtained from field trials on an experimental unmanned vehicle (XUV) are presented to demonstrate the efficacy of the approach. The paper also details ongoing research efforts to determine the feasibility of employing the algorithm for real-time autonomous navigation.
Keywords
computerised navigation; iterative methods; mobile robots; optical radar; real-time systems; remotely operated vehicles; software prototyping; 3D LADAR data; XUV; autonomous navigation; experimental unmanned vehicle; false matches; iterative registration; occlusions; outliers; real-time autonomous navigation; spurious matches; Data engineering; Global Positioning System; Intelligent manufacturing systems; Iterative closest point algorithm; Laser radar; Mobile robots; NIST; Navigation; Remotely operated vehicles; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN
0-7803-7848-2
Type
conf
DOI
10.1109/IVS.2003.1212906
Filename
1212906
Link To Document