Mixed Pixels Removal of a Laser Rangefinder for Mobile Robot 3-D Terrain Mapping

摘要：

This paper presents an in-depth characterization of a direct time-of-flight Laser Rangefinder (LRF).It investigates several important characteristics of the LRF,such as the relationship between the intensity of the received signal and the range,the distribution and limited range effect of mixed pixels,and the evolution of the mixed pixel s range and intensity when a laser beam traverses the edge of an object.A method based on the discontinuity of the range and intensity is proposed to identify and remove the mixed pixels.An Extended Kalman Filter is designed to segment the range data and detect the range discontinuity.The proposed method is integrated with a terrain mapping and navigation system and tested in outdoor environments with a real mobile robot.

作者: Cang Ye

作者单位: Department of Applied Science,University of Arkansas at Little Rock,Little Rock,AR 72204,USA

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1153-1158

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）