Outdoor Terrain Traversability Analysis for Robot Navigation using a Time-Of-Flight Camera

Geert De Cubber; Daniela Doroftei; Hichem Sahli; Yvan Baudoin

Outdoor Terrain Traversability Analysis for Robot Navigation using a Time-Of-Flight Camera

Geert De Cubber, Daniela Doroftei, Hichem Sahli, Yvan Baudoin

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

Samenvatting

Autonomous robotic systems operating in unstructured outdoor environments need to estimate the traversabilityof the terrain in order to navigate safely. Traversability estimation is a challenging problem, as the traversability is a complex function of both the terrain characteristics, such as slopes, vegetation, rocks, etc and the robot mobility characteristics, i.e. locomotion method, wheels, etc. It is thus required to analyze in real-time the 3D characteristics of the terrain and pair this data to the robot capabilities. In this paper, a method is introduced to estimate the traversability using data from a time-of-flight camera.

Originele taal-2	Ongedefinieerd/onbekend
Titel	RGB-D Workshop on 3D Perception in Robotics
Plaats van productie	Vasteras, Sweden
Status	Gepubliceerd - 2011

Toegang tot document

http://mecatron.rma.ac.be/pub/2011/TTA_TOF.pdf

Citeer dit

@inproceedings{1909744e19804f94be6909b37d41c5db,

title = "Outdoor Terrain Traversability Analysis for Robot Navigation using a Time-Of-Flight Camera",

abstract = "Autonomous robotic systems operating in unstructured outdoor environments need to estimate the traversabilityof the terrain in order to navigate safely. Traversability estimation is a challenging problem, as the traversability is a complex function of both the terrain characteristics, such as slopes, vegetation, rocks, etc and the robot mobility characteristics, i.e. locomotion method, wheels, etc. It is thus required to analyze in real-time the 3D characteristics of the terrain and pair this data to the robot capabilities. In this paper, a method is introduced to estimate the traversability using data from a time-of-flight camera.",

author = "{De Cubber}, Geert and Daniela Doroftei and Hichem Sahli and Yvan Baudoin",

year = "2011",

language = "Ongedefinieerd/onbekend",

booktitle = "RGB-D Workshop on 3D Perception in Robotics",

}

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T1 - Outdoor Terrain Traversability Analysis for Robot Navigation using a Time-Of-Flight Camera

AU - De Cubber, Geert

AU - Doroftei, Daniela

AU - Sahli, Hichem

AU - Baudoin, Yvan

PY - 2011

Y1 - 2011

N2 - Autonomous robotic systems operating in unstructured outdoor environments need to estimate the traversabilityof the terrain in order to navigate safely. Traversability estimation is a challenging problem, as the traversability is a complex function of both the terrain characteristics, such as slopes, vegetation, rocks, etc and the robot mobility characteristics, i.e. locomotion method, wheels, etc. It is thus required to analyze in real-time the 3D characteristics of the terrain and pair this data to the robot capabilities. In this paper, a method is introduced to estimate the traversability using data from a time-of-flight camera.

AB - Autonomous robotic systems operating in unstructured outdoor environments need to estimate the traversabilityof the terrain in order to navigate safely. Traversability estimation is a challenging problem, as the traversability is a complex function of both the terrain characteristics, such as slopes, vegetation, rocks, etc and the robot mobility characteristics, i.e. locomotion method, wheels, etc. It is thus required to analyze in real-time the 3D characteristics of the terrain and pair this data to the robot capabilities. In this paper, a method is introduced to estimate the traversability using data from a time-of-flight camera.

M3 - Conferentiebijdrage

BT - RGB-D Workshop on 3D Perception in Robotics

CY - Vasteras, Sweden

ER -