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On Segmentation, Shape Estimation and Navigation Using 3D Laser Range Measurements of Forest Scenes
Robotics/Autonomous Mechanical Systems, IKP, Linköping University.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1998 (English)In: Elsevier IFAC Publications / IFAC Proceedings series, ISSN 1474-6670, Vol. 31, no 3, 423-428 p.Article in journal (Refereed) Published
Abstract [en]

The problem addressed is segmentation and shape estimation of three-dimensional laser range measurements of forest scenes. For each tree the position as well as the three dimensional shape of the trunk is estimated. The detection uses a two-dimensional histogram of the measurements, followed by segmentation by fitting cylinders around the measurements of each detected tree trunk. The shape estimation consists of fitting a 3D spline to each tree trunk's centre curve and computing the trunk width by extracting the range discontinuities at the edges. For the experiments a mobile robot carrying a scanning laser range finder was used. Navigation was done by matching the extracted tree trunk positions from subsequent range scans, determining the relative movements

Place, publisher, year, edition, pages
1998. Vol. 31, no 3, 423-428 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-63655DOI: 10.1016/S1474-6670(17)44122-XISBN: 0-08-042929-7 (print)OAI: oai:DiVA.org:ltu-63655DiVA: diva2:1104601
Conference
3rd IFAC Symposium on Intelligent Autonomous Vehicles 1998 (IAV'98), Madrid, Spain, 25-27 March
Available from: 2017-06-01 Created: 2017-06-01 Last updated: 2017-11-24Bibliographically approved

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Wernersson, Åke

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