Digital Elevation Map Estimation by Vision-Lidar fusion

摘要：

This paper is about environment perception for navigation system in real outdoor applications. Unlike other approaches that try to detect an obstacle of binary state, we consider here a Digital Elevation Map (DEM). This map has to be built in regards to the guidance systems needs. These needs depend on the vehicle capabilities, its dynamical constraints, its speed etc… Starting with the navigation systems needs, we establish a perception strategy to fill the DEM the most accuratly possible. This stategy allows to efficiently improve perception capability (sensors and computation capabilities) of our robot. Then, we proposed a system based on this perception strategy by the combinaison of vision and range.nder.

作者: Florent Malartre Thomas Feraud Christophe Debain Roland Chapuis

作者单位: LASMEA - UMR 6602,24,avenue des Landais,63177 Aubière,France CEMAGREF,24,avenue des Landais,BP 50085,63172 Aubière,France

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 523-528

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）