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
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;
Conference_Titel :
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN :
0-7803-7848-2
DOI :
10.1109/IVS.2003.1212906
