Traversable Region Detection and Tracking for a Sparse 3D Laser Scanner for Off-Road Environments Using Range Images
DC Field | Value | Language |
---|---|---|
dc.contributor.author | An, Jhonghyun | - |
dc.date.accessioned | 2023-08-17T06:40:29Z | - |
dc.date.available | 2023-08-17T06:40:29Z | - |
dc.date.created | 2023-08-17 | - |
dc.date.issued | 2023-07 | - |
dc.identifier.issn | 1424-8220 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/88767 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | MDPI | - |
dc.relation.isPartOf | SENSORS | - |
dc.title | Traversable Region Detection and Tracking for a Sparse 3D Laser Scanner for Off-Road Environments Using Range Images | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.description.journalClass | 1 | - |
dc.identifier.wosid | 001031036000001 | - |
dc.identifier.doi | 10.3390/s23135898 | - |
dc.identifier.bibliographicCitation | SENSORS, v.23, no.13 | - |
dc.description.isOpenAccess | Y | - |
dc.identifier.scopusid | 2-s2.0-85164843496 | - |
dc.citation.title | SENSORS | - |
dc.citation.volume | 23 | - |
dc.citation.number | 13 | - |
dc.contributor.affiliatedAuthor | An, Jhonghyun | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | 3D | - |
dc.subject.keywordAuthor | laser scanner | - |
dc.subject.keywordAuthor | LIDAR | - |
dc.subject.keywordAuthor | traversability | - |
dc.subject.keywordAuthor | traversable region | - |
dc.subject.keywordAuthor | detection | - |
dc.subject.keywordAuthor | tracking | - |
dc.subject.keywordAuthor | autonomous driving | - |
dc.subject.keywordAuthor | unmanned ground vehicle (UGV) | - |
dc.subject.keywordAuthor | off-road | - |
dc.subject.keywordAuthor | range image | - |
dc.subject.keywordAuthor | Bayesian fusion | - |
dc.subject.keywordPlus | SIMULTANEOUS LOCALIZATION | - |
dc.subject.keywordPlus | SEGMENTATION | - |
dc.subject.keywordPlus | EXTRACTION | - |
dc.relation.journalResearchArea | Chemistry | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Chemistry, Analytical | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
1342, Seongnam-daero, Sujeong-gu, Seongnam-si, Gyeonggi-do, Republic of Korea(13120)031-750-5114
COPYRIGHT 2020 Gachon University All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.