Date of Original Version
Abstract or Description
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.
Proceedings of the 1986 IEEE International Conference on Robotics and Automation, April, 1986, 1426-1432.