TY - JOUR
T1 - Traversable terrain classification for outdoor autonomous robots using single 2D laser scans
AU - Andersen, Jens Christian
AU - Blas, Morten Rufus
AU - Andersen, Nils Axel
AU - Ravn, Ole
AU - Blanke, Mogens
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - terrain classification, obstacle detection, road following, laser scanner, data fusion, mobile robots
U2 - 10.3233/ICA-2006-13303
DO - 10.3233/ICA-2006-13303
M3 - Journal article
SN - 1069-2509
VL - 13
SP - 223
EP - 232
JO - Integrated Computer-Aided Engineering
JF - Integrated Computer-Aided Engineering
IS - 3
ER -