On Segmentation, Shape Estimation and Navigation Using 3D Laser Range Measurements of Forest Scenes

• The problem addressed is segmentation and shape estimation of three-dimensional laser range measurements of forest scenes. For each tree the position as well as the three dimensional shape of the trunk is estimated. The detection uses a two-dimensional histogram of the measurements, followed by segmentation by fitting cylinders around the measurements of each detected tree trunk. The shape estimation consists of fitting a 3D spline to each tree trunk's centre curve and computing the trunk width by extracting the range discontinuities at the edges. For the experiments a mobile robot carrying a scanning laser range finder was used. Navigation was done by matching the extracted tree trunk positions from subsequent range scans, determining the relative movements

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

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Industriell elektronik

Industrial Electronics

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