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Geometrical Featured Voxel Based Urban Structure Recognition and 3-D Mapping for Unmanned Ground Vehicle

무인 자동차를 위한 기하학적 특징 복셀을 이용하는 도시 환경의 구조물 인식 및 3차원 맵 생성 방법

  • 최윤근 (한국과학기술원 로봇공학학제) ;
  • 심인욱 (한국과학기술원 로봇공학학제) ;
  • 안승욱 (한국과학기술원 로봇공학학제) ;
  • 정명진 (한국과학기술원 로봇공학학제)
  • Received : 2011.02.20
  • Accepted : 2011.03.29
  • Published : 2011.05.01

Abstract

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.

Acknowledgement

Supported by : 정보통신산업진흥원

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