Traversable terrain classification for outdoor autonomous robots using single 2D laser scans

Authors:
Jens Christian Andersen;Morten Rufus Blas;Ole Ravn;Nils A. Andersen;Mogens Blanke
Affiliations:
-;ECO-DAN A/S, Bøgeskovvej 6, DK-3490, Kvistgaard, Denmark. E-mail: jca@oersted.dtu.dk, rufus.blas@gmail.com, naa@oersted.dtu.dk, mb@oersted.dtu.dk;-;-;-
Venue:
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Year:
2006

Citing 3
Cited 4

Vision-Based Vehicle Guidance

Computer
Ladar-Based Discrimination of Grass from Obstacles for Autonomous Navigation

ISER '00 Experimental Robotics VII
A multi-resolution pyramid for outdoor robot terrain perception

AAAI'04 Proceedings of the 19th national conference on Artifical intelligence

Real-time outdoor trail detection on a mobile robot

RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Terrain surface classification for autonomous ground vehicles using a 2D laser stripe-based structured light sensor

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Terrain surface classification with a control mode update rule using a 2D laser stripe-based structured light sensor

Robotics and Autonomous Systems
Terrain traversability analysis methods for unmanned ground vehicles: A survey

Engineering Applications of Artificial Intelligence

Quantified Score

Hi-index	0.00

Visualization

Abstract

Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses seven distinctly different classifiers: raw height, roughness, step size, curvature, slope, width and invalid data. These are then used to extract road borders, traversable terrain and identify obstacles. Experimental results are shown and discussed. The results were obtained using a DTU developed mobile robot, and the autonomous tests were conducted in a national park environment.