By Topic

Feature detection and tracking for mobile robots using a combination of ladar and color images

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Hong, Tsai-Hong ; Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA ; Chang, T. ; Rasmussen, C. ; Shneier, M.

In an outdoor, off-road mobile robotics environment, it is important to identify objects that can affect the vehicle's ability to traverse its planned path, and to determine their three-dimensional characteristics. In the paper, a combination of three elements is used to accomplish this task. An imaging ladar collects range images of the scene. A color camera, whose position relative to the ladar is known, is used to gather color images. Information extracted from these sensors is used to build a world model, a representation of the current state of the world. The world model is used actively in the sensing to predict what should be visible in each of the sensors during the next imaging cycle. The paper explains how the combined use of these three types of information leads to a robust understanding of the local environment surrounding the robotic vehicle for two important tasks: puddle/pond avoidance and road sign detection.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference:

2002