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A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners
Zhuang Y(庄严); He, Guojian; Hu, Huosheng; Wu ZW(吴镇炜)
Department机器人学研究室
Source PublicationTransactions of the Institute of Measurement and Control
ISSN0142-3312
2015
Volume37Issue:4Pages:435-445
Indexed BySCI ; EI
EI Accession number20151200656272
WOS IDWOS:000351052900001
Contribution Rank1
Keyword3d Point Clouds Laser Scanner Unmanned Ground Vehicles Urban Scene Understanding
AbstractOutdoor scene understanding plays a key role for unmanned ground vehicles (UGVs) to navigate in complex urban environments. This paper presents a novel 3D scene-understanding framework for UGVs to handle uncertain and changing lighting conditions outdoors. A 2D bearing angle (BA) image is deployed to perform scene understanding so that the computational burden in the process of segmentation and classification of the 3D laser point cloud can be reduced. An improved super-pixel algorithm is used for fast 3D scene segmentation, and then the Gentle-Adaboost algorithm is utilized to perform super-pixel patch classification using the texture features of the Gray Level Co-occurrence Matrix. All false classification results in the uncertain super-pixel patches of BA images are transformed back to raw 3D laser points and a re-classification is conducted to refine the 3D scene understanding for UGVs. The results from a real laser dataset taken from a large-scale campus environment show the validity and robust performance of the proposed approach, in comparison with the results from Korea Advanced Institute of Science and Technology dataset.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Instruments & Instrumentation
WOS KeywordCLASSIFICATION ; SEGMENTATION
WOS Research AreaAutomation & Control Systems ; Instruments & Instrumentation
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15776
Collection机器人学研究室
Corresponding AuthorZhuang Y(庄严)
Affiliation1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
3.School of Computer Science and Electronic Engineering, University of Essex, Colchester, United Kingdom
Recommended Citation
GB/T 7714
Zhuang Y,He, Guojian,Hu, Huosheng,et al. A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners[J]. Transactions of the Institute of Measurement and Control,2015,37(4):435-445.
APA Zhuang Y,He, Guojian,Hu, Huosheng,&Wu ZW.(2015).A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners.Transactions of the Institute of Measurement and Control,37(4),435-445.
MLA Zhuang Y,et al."A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners".Transactions of the Institute of Measurement and Control 37.4(2015):435-445.
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