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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6284397
