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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)
作者部门机器人学研究室
关键词3d Point Clouds Laser Scanner Unmanned Ground Vehicles Urban Scene Understanding
发表期刊Transactions of the Institute of Measurement and Control
ISSN0142-3312
2015
卷号37期号:4页码:435-445
收录类别SCI ; EI
EI收录号20151200656272
WOS记录号WOS:000351052900001
产权排序1
摘要Outdoor 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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Instruments & Instrumentation
关键词[WOS]CLASSIFICATION ; SEGMENTATION
WOS研究方向Automation & Control Systems ; Instruments & Instrumentation
引用统计
被引频次:5[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15776
专题机器人学研究室
通讯作者Zhuang Y(庄严)
作者单位1.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
推荐引用方式
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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