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

Pierre Boulanger; Francois Blais

doi:10.1117/12.143813

4 May 1993 Range-image segmentation, free-space determination, and position estimate for a mobile vehicle

Pierre Boulanger, Francois Blais

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143813
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

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.

Citation Download Citation

Pierre Boulanger and Francois Blais "Range-image segmentation, free-space determination, and position estimate for a mobile vehicle", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143813

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