Ground Plane Identification Using LIDAR in Forested
Name
McDaniel-2010-Ground Plane Identification Using LIDAR in Forested Environments.pdf
Size
1.4 MB
Format
Adobe PDF
Checksum (MD5)
7743e04430215d43deb45887c7039dd0
Author(s)
McDaniel, Matt W.
Nishihata, Takayuki
Brooks, Christopher A.
Iagnemma, Karl
Date Issued
May 2010
Journal
IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers
Citation
McDaniel, M.W. et al. “Ground plane identification using LIDAR in forested environments.” Robotics and Automation (ICRA), 2010 IEEE International Conference on. 2010. 3831-3836. ©2010, IEEE
Version
Final published version
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509963
