EXTRACTION OF SEMANTIC INFORMATION FROM THE 3D LASER RANGE FINDER

被引：0
|
作者：
Gnatowski, Michal [1 ]
Siemiatkowska, Barbara [1 ]
Szklarski, Jacek [1 ]
机构：
[1] Polish Acad Sci, Inst Fundamental Technol Res, Warsaw, Poland
来源：
ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL | 2010年 / 524期
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a system for extracting semantic information in indoor and outdoor environment from 3D laser scanner is presented. The largest objects (like walls, floor, ceiling, etc.) are recognized by constructing an ROB image based on normal vectors and applying a simple rule-based system. More sophisticated techniques are used to detect the remaining ones: Haar-like features to classify small and irregular objects, and Cellular Neural Networks to distinguish between different types of ground on which the robot is able to operate.
引用
收藏
页码：383 / 390
页数：8
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