Outdoor scene analysis using range data

1 January 1986

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 3, 1426-1432
https://doi.org/10.1109/robot.1986.1087499

Abstract

This paper describes techniques for outdoor scene analysis using range data. The purpose of these techniques is to build a 3-D representation of the environment of an mobile robot equipped with a range sensor. Algorithms are presented for scene segmentation, object detection, map building, and object recognition. We present results obtained in an outdoor navigation environment in which a laser range finder is mounted on a vehicle. These results have been successfully applied to the problem of path planning through obstacles.

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Toward a surface primal sketch
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2005