Title :
A clustering method for efficient segmentation of 3D laser data
Author :
Klasing, Klaas ; Wollherr, Dirk ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng, Tech. Univ. Munchen, Munich
Abstract :
In this paper we present a novel method for the efficient segmentation of 3D laser range data. The proposed algorithm is based on a radially bounded nearest neighbor strategy and requires only two parameters. It yields deterministic, repeatable results and does not depend on any initialization procedure. The efficiency of the method is verified with synthetic and real 3D data.
Keywords :
laser ranging; mobile robots; pattern clustering; 3D laser range data segmentation; bounded nearest neighbor strategy; clustering method; mobile robot; Clustering algorithms; Clustering methods; Data structures; Laser noise; Laser radar; Mobile robots; Navigation; Nearest neighbor searches; Power lasers; Robustness;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543832
