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On filtering of laser range data in snowfall
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
2008 (English)In: 2008 4th International IEEE Conference Intelligent Systems: Varna, Bulgaria, 6 - 8 September 2008, Piscataway, NJ: IEEE Communications Society, 2008, Vol. 2, p. 33-39Conference paper, Published paper (Refereed)
Abstract [en]

This paper is towards reducing the clutter from snowflakes for outdoor robots. There are three basic cases: 1. Normal operation of the laser with objects within range for detection. 2. Close range with objects close to the laser i.e. shorter than the pulse length. 3. Free space as background i.e. all detects are false. The findings are summarized as: The two lasers used were a pulsed wide beam laser and a modulated narrow beam laser. The narrow beam laser has much better penetration between the snowflakes. We did not use snow and rain threshold setting for the wide beam laser. Median filtering shows a substantial reduction in snowflake detects. The gamma distribution describes fairly well the distribution of detected snowflakes.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2008. Vol. 2, p. 33-39
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-39696DOI: 10.1109/IS.2008.4670551Scopus ID: 2-s2.0-78650448859Local ID: e8b4cfb0-5fc6-11dd-82d9-000ea68e967bISBN: 978-1-4244-1739-1 (print)OAI: oai:DiVA.org:ltu-39696DiVA, id: diva2:1013213
Conference
International IEEE Conference Intelligent Systems : 06/09/2008 - 08/09/2008
Note
Godkänd; 2008; 20080801 (sr)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2018-07-10Bibliographically approved

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Rönnbäck, SvenWernersson, Åke

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • de-DE
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  • Other locale
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Output format
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