Vision Assisted Laser Scanner Navigation for Autonomous Robots

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    Abstract

    This paper describes a navigation method based on road detection using both a laser scanner and a vision sensor. The method is to classify the surface in front of the robot into traversable segments (road) and obstacles using the laser scanner, this classifies the area just in front of the robot (2.5 m). The front looking camera is used to classify the road from this distance and forward, taking a seed area from the laser scanner data and from this estimate the outline of the visible part of the road. The method has been tested successfully on gravelled and asphalt roads in a national park environment.
    Original languageEnglish
    Title of host publicationProceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06)
    Volume39
    PublisherSpringer
    Publication date2008
    Pages111-120
    ISBN (Print)978-3-540-77456-3
    Publication statusPublished - 2008
    Event10th International Symposium on Experimental Robotics 2006 - Rio de Janeiro, Brazil
    Duration: 6 Jul 200612 Jul 2006
    Conference number: 10

    Conference

    Conference10th International Symposium on Experimental Robotics 2006
    Number10
    Country/TerritoryBrazil
    CityRio de Janeiro
    Period06/07/200612/07/2006

    Keywords

    • laser scanner
    • Robot
    • vision
    • autonomous navigation
    • ladar

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