Traversable Region Detection and Tracking for a Sparse 3D Laser Scanner for Off-Road Environments Using Range Imagesopen access
- Authors
- An, Jhonghyun
- Issue Date
- Jul-2023
- Publisher
- MDPI
- Keywords
- 3D; laser scanner; LIDAR; traversability; traversable region; detection; tracking; autonomous driving; unmanned ground vehicle (UGV); off-road; range image; Bayesian fusion
- Citation
- SENSORS, v.23, no.13
- Journal Title
- SENSORS
- Volume
- 23
- Number
- 13
- URI
- https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/88767
- DOI
- 10.3390/s23135898
- ISSN
- 1424-8220
- Abstract
- This study proposes a method for detecting and tracking traversable regions in off-road conditions for unmanned ground vehicles (UGVs). Off-road conditions, such as rough terrain or fields, present significant challenges for UGV navigation, and detecting and tracking traversable regions is essential to ensure safe and efficient operation. Using a 3D laser scanner and range-image-based approach, a method is proposed for detecting traversable regions under off-road conditions; this is followed by a Bayesian fusion algorithm for tracking the traversable regions in consecutive frames. Our range-image-based traversable-region-detection approach enables efficient processing of point cloud data from a 3D laser scanner, allowing the identification of traversable areas that are safe for the unmanned ground vehicle to drive on. The effectiveness of the proposed method was demonstrated using real-world data collected during UGV operations on rough terrain, highlighting its potential as a solution for improving UGV navigation capabilities in challenging environments.
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