Date of Original Version

1986

Type

Conference Proceeding

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.

Comments

"©1986 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE." "This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."

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Published In

Proceedings of the 1986 IEEE International Conference on Robotics and Automation, April, 1986, 1426-1432.