TERRAIN CLASSIFICATION FOR OUTDOOR AUTONOMOUS ROBOTS USING SINGLE 2D LASER SCANS - Robot perception for dirt road navigation

Morten Rufus Blas, Søren Riisgaard, Ole Ravn, Nils A. Andersen, Mogens Blanke, Jens C. Andersen

Abstract

Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses four distinctly different classifiers: raw height, step size, slope, and roughness. Input is a single 2D laser scan and output is a classification of each laser scan range reading. The range readings are classified as either returning from an obstacle (not traversable) or from traversable ground. Experimental results are shown and discussed from the implementation done with a department developed Medium Mobile Robot and tests conducted in a national park environment.

References

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Paper Citation


in Harvard Style

Rufus Blas M., Riisgaard S., Ravn O., A. Andersen N., Blanke M. and C. Andersen J. (2005). TERRAIN CLASSIFICATION FOR OUTDOOR AUTONOMOUS ROBOTS USING SINGLE 2D LASER SCANS - Robot perception for dirt road navigation . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 347-352. DOI: 10.5220/0001176003470352


in Bibtex Style

@conference{icinco05,
author={Morten Rufus Blas and Søren Riisgaard and Ole Ravn and Nils A. Andersen and Mogens Blanke and Jens C. Andersen},
title={TERRAIN CLASSIFICATION FOR OUTDOOR AUTONOMOUS ROBOTS USING SINGLE 2D LASER SCANS - Robot perception for dirt road navigation},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={347-352},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001176003470352},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - TERRAIN CLASSIFICATION FOR OUTDOOR AUTONOMOUS ROBOTS USING SINGLE 2D LASER SCANS - Robot perception for dirt road navigation
SN - 972-8865-30-9
AU - Rufus Blas M.
AU - Riisgaard S.
AU - Ravn O.
AU - A. Andersen N.
AU - Blanke M.
AU - C. Andersen J.
PY - 2005
SP - 347
EP - 352
DO - 10.5220/0001176003470352