무인 자동차를 위한 기하학적 특징 복셀을 이용하는 도시 환경의 구조물 인식 및 3차원 맵 생성 방법 Geometrical featured voxel based urban structure recognition and 3-D mapping for unmanned ground vehicle

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Recognition of structures in urban environments is a fundamental ability for unmanned ground vehicles. In this paper we propose the geometrical featured voxel which has not only 3-D coordinates but also the type of geometrical properties of point cloud. Instead of dealing with a huge amount of point cloud collected by range sensors in urban, the proposed voxel can efficiently represent and save 3-D urban structures without loss of geometrical properties. We also provide an urban structure classification algorithm by using the proposed voxel and machine learning techniques. The proposed method enables to recognize urban environments around unmanned ground vehicles quickly. In order to evaluate an ability of the proposed map representation and the urban structure classification algorithm, our vehicle equipped with the sensor system collected range data and pose data in campus and experimental results have been shown in this paper. © ICROS 2011.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2011-05
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.17, no.5, pp.436 - 443

ISSN
1976-5622
DOI
10.5302/J.ICROS.2011.17.5.436
URI
http://hdl.handle.net/10203/94221
Appears in Collection
EE-Journal Papers(저널논문)
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