DocumentCode
3130331
Title
Robot Terrain Inclination model extracted from laser scanner data for outdoor environment
Author
Qiu, Chunxin ; Zhu, Xiaorui ; Liu, Liping
Author_Institution
Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Shenzhen, China
fYear
2012
fDate
5-8 Aug. 2012
Firstpage
1727
Lastpage
1731
Abstract
A new Robot Terrain Inclination model (RTI model) extracted from laser scanner data is proposed in this paper. The RTI model can be used to evaluate the terrain traversability or assist localization and mapping for outdoor mobile robot. The paper presents the segmentation of the terrain points and the non-terrain points and the extraction of RTI model. Experiments were carried out to demonstrate the accuracy of RTI model.
Keywords
SLAM (robots); data acquisition; mobile robots; optical scanners; path planning; robot vision; RTI model; laser scanner data; localization assistance; mapping assistance; nonterrain point segmentation; outdoor environment; outdoor mobile robot; robot terrain inclination model extraction; terrain point segmentation; terrain traversability evaluation; Data mining; Laser modes; Mobile robots; Robot kinematics; Solid modeling; Laser scanner; Terrain inclinations; Terrain point extraction;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4673-1275-2
Type
conf
DOI
10.1109/ICMA.2012.6284397
Filename
6284397
Link To Document