Outdoor scene analysis using range data

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.

Authors

• Martial Hebert

Keywords

• Image analysis
• Object Recognition
• Range Of Sensors
• Techniques Aim
• Data Sources
• Field Of View
• Second Derivative
• Color Images
• Autonomous Vehicles
• Path Planning
• Local Map
• Data Fusion
• Consecutive Frames
• Consecutive Images
• Objects In The Scene
• Obstacle Avoidance
• Laser Ranging
• Surface Patches
• Sensor Orientation
• Surface Normals
• Derivative Works
• Scene Description
• Description File
• Radial Vector