A new real-time algorithm for off-road terrain estimation using laser data

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	A new real-time algorithm for off-road terrain estimation using laser data
	Qiu Q(邱权); Yang TW(杨唐文); Han JD(韩建达)
刊名	Science in China Series F: Information Sciences
	2009
卷号	52 期号:9 页码:1658-1667
关键词	real-time off-road terrain estimation laser data
ISSN号	1009-2757
产权排序	1
中文摘要	Gaussian mixture algorithm (GMA) is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA ismodified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems
研究领域[WOS]	Computer Science
收录类别	SCI
资助信息	the National Natural Science Foundation of China (Grant Nos. 60775056, 60705028)
语种	英语
WOS记录号	WOS:000269899800012
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7281]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Qiu Q,Yang TW,Han JD. A new real-time algorithm for off-road terrain estimation using laser data[J]. Science in China Series F: Information Sciences,2009,52(9):1658-1667.
APA	Qiu Q,Yang TW,&Han JD.(2009).A new real-time algorithm for off-road terrain estimation using laser data.Science in China Series F: Information Sciences,52(9),1658-1667.
MLA	Qiu Q,et al."A new real-time algorithm for off-road terrain estimation using laser data".Science in China Series F: Information Sciences 52.9(2009):1658-1667.