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Proceedings Paper

Range-image segmentation, free-space determination, and position estimate for a mobile vehicle
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Paper Abstract

Two processing methods using range data are shown to perform different navigation tasks for a mobile vehicle. The first, a low-level processing method based on mathematical morphology, computes in real time, the free space and is used for collision avoidance. A parallel between this method and polar histogram techniques is drawn. The second method, based on a hierarchical segmentation technique, can extract a multiple resolution description of the range data produced by the sensor. This segmentation is used to describe the immediate environment of the vehicle using simple geometrical primitives, refine the vehicle position estimate, and create a detailed representation of the immediate environment of the vehicle. Experimental results using the BIRIS range sensor are shown.

Paper Details

Date Published: 4 May 1993
PDF: 12 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143813
Show Author Affiliations
Pierre Boulanger, National Research Council Canada (Canada)
Francois Blais, National Research Council Canada (Canada)

Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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