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On Segmentation, Sh...
On Segmentation, Shape Estimation and Navigation Using 3D Laser Range Measurements of Forest Scenes
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- Högström, Tomas (författare)
- Robotics/Autonomous Mechanical Systems, IKP, Linköping University
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- Wernersson, Åke (författare)
- Luleå tekniska universitet,EISLAB
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(creator_code:org_t)
- 1998
- 1998
- Engelska.
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Ingår i: Elsevier IFAC Publications / IFAC Proceedings series. - 1474-6670. - 0080429297 ; 31:3, s. 423-428
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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)
Nyckelord
- Industriell elektronik
- Industrial Electronics
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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