Ground Plane Identification Using LIDAR in Forested
To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2011
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| Online Access: | http://hdl.handle.net/1721.1/61414 |
| _version_ | 1811091467124342784 |
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| author | McDaniel, Matt W. Nishihata, Takayuki Brooks, Christopher A. Iagnemma, Karl |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering McDaniel, Matt W. Nishihata, Takayuki Brooks, Christopher A. Iagnemma, Karl |
| author_sort | McDaniel, Matt W. |
| collection | MIT |
| description | To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the non-ground points. The second stage, based on a support vector machine (SVM) classifier, operates on a set of geometrically defined features to identify which of the remaining points belong to the ground. Experimental results from two forested environments demonstrate the effectiveness of this approach. |
| first_indexed | 2024-09-23T15:02:53Z |
| format | Article |
| id | mit-1721.1/61414 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:02:53Z |
| publishDate | 2011 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/614142022-09-29T12:16:12Z Ground Plane Identification Using LIDAR in Forested McDaniel, Matt W. Nishihata, Takayuki Brooks, Christopher A. Iagnemma, Karl Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity Iagnemma, Karl McDaniel, Matt W. Nishihata, Takayuki Brooks, Christopher A. Iagnemma, Karl To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the non-ground points. The second stage, based on a support vector machine (SVM) classifier, operates on a set of geometrically defined features to identify which of the remaining points belong to the ground. Experimental results from two forested environments demonstrate the effectiveness of this approach. United States. Army (Grant no. W911NF-09-1-0334) 2011-03-04T18:50:23Z 2011-03-04T18:50:23Z 2010-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-5038-1 1050-4729 INSPEC Accession Number: 11431412 http://hdl.handle.net/1721.1/61414 McDaniel, M.W. et al. “Ground plane identification using LIDAR in forested environments.” Robotics and Automation (ICRA), 2010 IEEE International Conference on. 2010. 3831-3836. ©2010, IEEE en_US http://dx.doi.org/10.1109/ROBOT.2010.5509963 IEEE International Conference on Robotics and Automation Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | McDaniel, Matt W. Nishihata, Takayuki Brooks, Christopher A. Iagnemma, Karl Ground Plane Identification Using LIDAR in Forested |
| title | Ground Plane Identification Using LIDAR in Forested |
| title_full | Ground Plane Identification Using LIDAR in Forested |
| title_fullStr | Ground Plane Identification Using LIDAR in Forested |
| title_full_unstemmed | Ground Plane Identification Using LIDAR in Forested |
| title_short | Ground Plane Identification Using LIDAR in Forested |
| title_sort | ground plane identification using lidar in forested |
| url | http://hdl.handle.net/1721.1/61414 |
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