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Traversable Region Detection and Tracking for a Sparse 3D Laser Scanner for Off-Road Environments Using Range Images.
- Source :
-
Sensors (14248220) . Jul2023, Vol. 23 Issue 13, p5898. 17p. - Publication Year :
- 2023
-
Abstract
- This study proposes a method for detecting and tracking traversable regions in off-road conditions for unmanned ground vehicles (UGVs). Off-road conditions, such as rough terrain or fields, present significant challenges for UGV navigation, and detecting and tracking traversable regions is essential to ensure safe and efficient operation. Using a 3D laser scanner and range-image-based approach, a method is proposed for detecting traversable regions under off-road conditions; this is followed by a Bayesian fusion algorithm for tracking the traversable regions in consecutive frames. Our range-image-based traversable-region-detection approach enables efficient processing of point cloud data from a 3D laser scanner, allowing the identification of traversable areas that are safe for the unmanned ground vehicle to drive on. The effectiveness of the proposed method was demonstrated using real-world data collected during UGV operations on rough terrain, highlighting its potential as a solution for improving UGV navigation capabilities in challenging environments. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 14248220
- Volume :
- 23
- Issue :
- 13
- Database :
- Academic Search Index
- Journal :
- Sensors (14248220)
- Publication Type :
- Academic Journal
- Accession number :
- 164941297
- Full Text :
- https://doi.org/10.3390/s23135898