Winning the DARPA Grand Challenge: A Robot Race through the Mojave Desert
ASE '06 Proceedings of the 21st IEEE/ACM International Conference on Automated Software Engineering
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
Application of multi-modal features for terrain classification on a mobile system
DAGM'11 Proceedings of the 33rd international conference on Pattern recognition
Proceedings of the South African Institute for Computer Scientists and Information Technologists Conference
Probabilistic terrain classification in unstructured environments
Robotics and Autonomous Systems
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Three-dimensional laser range finders provide autonomous systems with vast amounts of information. However, autonomous robots navigating in unstructured environments are usually not interested in every geometric detail of their surroundings. Instead, they require real-time information about the location of obstacles and the condition of drivable areas. In this paper, we first present grid-based algorithms for classifying regions as either drivable or not. In a subsequent step, drivable regions are further examined using a novel algorithm which determines the local terrain roughness. This information can be used by a path planning algorithm to decide whether to prefer a rough, muddy area, or a plain street, which would not be possible using binary drivability information only.