An environmental cognition method based on 3D laser radar

Mingehen Gao; Weihai Chen; Jingmeng Liu; Xiaoqi Chen

doi:10.1115/DETC2009-87048

An environmental cognition method based on 3D laser radar

Mingehen Gao^*
, Weihai Chen
, Jingmeng Liu
, Xiaoqi Chen

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
University of Canterbury

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents normal vector clustering method for environmental cognition using 3D laser radar. With the special design of 3D laser radar, accurate 3D depth of field data can be obtained. The proposed method acts on facet-unit, which is a description of the basic unit of 3D laser data. The novel method, which significantly reduces the amount of computation and improves the computational speed, is able to efficiently distinguish different flats in the 3D space. An embedded system is adopted as the platform for data processing and visualization. TinyGL is implemented on Qt-embedded to enhance the performance of environment map reconstruction and visualization. Experimental results validate the effectiveness of the 3D laser radar and cognition method developed.

Original language	English
Title of host publication	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages	405-410
Number of pages	6
DOIs	https://doi.org/10.1115/DETC2009-87048
State	Published - 2010
Event	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States Duration: 30 Aug 2009 → 2 Sep 2009

Publication series

Name	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Volume	3

Conference

Conference	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Country/Territory	United States
City	San Diego, CA
Period	30/08/09 → 2/09/09

Access to Document

10.1115/DETC2009-87048

Cite this

Gao, M., Chen, W., Liu, J., & Chen, X. (2010). An environmental cognition method based on 3D laser radar. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (pp. 405-410). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 3). https://doi.org/10.1115/DETC2009-87048

Gao, Mingehen ; Chen, Weihai ; Liu, Jingmeng et al. / An environmental cognition method based on 3D laser radar. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. 2010. pp. 405-410 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009).

@inproceedings{0b3496a541cb4e75be2583aaa0cdd579,

title = "An environmental cognition method based on 3D laser radar",

abstract = "This paper presents normal vector clustering method for environmental cognition using 3D laser radar. With the special design of 3D laser radar, accurate 3D depth of field data can be obtained. The proposed method acts on facet-unit, which is a description of the basic unit of 3D laser data. The novel method, which significantly reduces the amount of computation and improves the computational speed, is able to efficiently distinguish different flats in the 3D space. An embedded system is adopted as the platform for data processing and visualization. TinyGL is implemented on Qt-embedded to enhance the performance of environment map reconstruction and visualization. Experimental results validate the effectiveness of the 3D laser radar and cognition method developed.",

author = "Mingehen Gao and Weihai Chen and Jingmeng Liu and Xiaoqi Chen",

year = "2010",

doi = "10.1115/DETC2009-87048",

language = "英语",

isbn = "9780791849002",

series = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009",

pages = "405--410",

booktitle = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009",

note = "2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 ; Conference date: 30-08-2009 Through 02-09-2009",

}

Gao, M, Chen, W, Liu, J & Chen, X 2010, An environmental cognition method based on 3D laser radar. in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, vol. 3, pp. 405-410, 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009, San Diego, CA, United States, 30/08/09. https://doi.org/10.1115/DETC2009-87048

An environmental cognition method based on 3D laser radar. / Gao, Mingehen; Chen, Weihai; Liu, Jingmeng et al.
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. 2010. p. 405-410 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An environmental cognition method based on 3D laser radar

AU - Gao, Mingehen

AU - Chen, Weihai

AU - Liu, Jingmeng

AU - Chen, Xiaoqi

PY - 2010

Y1 - 2010

N2 - This paper presents normal vector clustering method for environmental cognition using 3D laser radar. With the special design of 3D laser radar, accurate 3D depth of field data can be obtained. The proposed method acts on facet-unit, which is a description of the basic unit of 3D laser data. The novel method, which significantly reduces the amount of computation and improves the computational speed, is able to efficiently distinguish different flats in the 3D space. An embedded system is adopted as the platform for data processing and visualization. TinyGL is implemented on Qt-embedded to enhance the performance of environment map reconstruction and visualization. Experimental results validate the effectiveness of the 3D laser radar and cognition method developed.

AB - This paper presents normal vector clustering method for environmental cognition using 3D laser radar. With the special design of 3D laser radar, accurate 3D depth of field data can be obtained. The proposed method acts on facet-unit, which is a description of the basic unit of 3D laser data. The novel method, which significantly reduces the amount of computation and improves the computational speed, is able to efficiently distinguish different flats in the 3D space. An embedded system is adopted as the platform for data processing and visualization. TinyGL is implemented on Qt-embedded to enhance the performance of environment map reconstruction and visualization. Experimental results validate the effectiveness of the 3D laser radar and cognition method developed.

UR - https://www.scopus.com/pages/publications/77953715537

U2 - 10.1115/DETC2009-87048

DO - 10.1115/DETC2009-87048

M3 - 会议稿件

AN - SCOPUS:77953715537

SN - 9780791849002

T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009

SP - 405

EP - 410

BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009

T2 - 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009

Y2 - 30 August 2009 through 2 September 2009

ER -

Gao M, Chen W, Liu J, Chen X. An environmental cognition method based on 3D laser radar. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. 2010. p. 405-410. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009). doi: 10.1115/DETC2009-87048

An environmental cognition method based on 3D laser radar

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