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- McDaniel, M. W., et al.
(författare)
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Ground plane identification using LIDAR in forested environments
- 2010
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Ingår i: 2010 ieee international conference on robotics and automation. - : IEEE Press. - 9781424450381 ; , s. 3831-3836
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Konferensbidrag (refereegranskat)abstract
- To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the non-ground points. The second stage, based on a support vector machine (SVM) classifier, operates on a set of geometrically defined features to identify which of the remaining points belong to the ground. Experimental results from two forested environments demonstrate the effectiveness of this approach. ©2010 IEEE.
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