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 -