| dc.contributor.author | McDaniel, Matt W. | |
| dc.contributor.author | Nishihata, Takayuki | |
| dc.contributor.author | Brooks, Christopher A. | |
| dc.contributor.author | Iagnemma, Karl | |
| dc.date.accessioned | 2011-03-04T18:50:23Z | |
| dc.date.available | 2011-03-04T18:50:23Z | |
| dc.date.issued | 2010-05 | |
| dc.identifier.isbn | 978-1-4244-5038-1 | |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.other | INSPEC Accession Number: 11431412 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/61414 | |
| dc.description.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. | en_US |
| dc.description.sponsorship | United States. Army (Grant no. W911NF-09-1-0334) | en_US |
| dc.language.iso | en_US | |
| dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
| dc.relation.isversionof | http://dx.doi.org/10.1109/ROBOT.2010.5509963 | en_US |
| dc.rights | 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. | en_US |
| dc.source | IEEE | en_US |
| dc.title | Ground Plane Identification Using LIDAR in Forested | en_US |
| dc.type | Article | en_US |
| dc.identifier.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 | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity | en_US |
| dc.contributor.approver | Iagnemma, Karl | |
| dc.contributor.mitauthor | McDaniel, Matt W. | |
| dc.contributor.mitauthor | Nishihata, Takayuki | |
| dc.contributor.mitauthor | Brooks, Christopher A. | |
| dc.contributor.mitauthor | Iagnemma, Karl | |
| dc.relation.journal | IEEE International Conference on Robotics and Automation | en_US |
| dc.eprint.version | Final published version | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| dspace.orderedauthors | McDaniel, Matthew W; Nishihata, Takayuki; Brooks, Christopher A; Iagnemma, Karl | en |
| mit.license | PUBLISHER_POLICY | en_US |
| mit.metadata.status | Complete | |
