Ladar-based terrain cover classification

Jose Macedo; Roberto Manduchi; Larry Henry Matthies

doi:10.1117/12.439986

20 September 2001 Ladar-based terrain cover classification

Jose Macedo, Roberto Manduchi, Larry Henry Matthies

Proceedings Volume 4364, Unmanned Ground Vehicle Technology III; (2001) https://doi.org/10.1117/12.439986
Event: Aerospace/Defense Sensing, Simulation, and Controls, 2001, Orlando, FL, United States

Abstract

An autonomous vehicle driving in a densely vegetated environment needs to be able to discriminate between obstacles (such as rocks) and penetrable vegetation (such as tall grass). We propose a technique for terrain cover classification based on the statistical analysis of the range data produced by a single-axis laser rangefinder (ladar). We first present theoretical models for the range distribution in the presence of homogeneously distributed grass and of obstacles partially occluded by grass. We then validate our results with real-world cases, and propose a simple algorithm to robustly discriminate between vegetation and obstacles based on the local statistical analysis of the range data.

Citation Download Citation

Jose Macedo, Roberto Manduchi, and Larry Henry Matthies "Ladar-based terrain cover classification", Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); https://doi.org/10.1117/12.439986

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