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dc.contributor.authorSantamaria Navarro, Àngel
dc.contributor.authorTeniente Avilés, Ernesto Homar
dc.contributor.authorMorta Garriga, Martí
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2015-05-20T17:18:29Z
dc.date.available2015-05-20T17:18:29Z
dc.date.created2015
dc.date.issued2015
dc.identifier.citationSantamaria, A. [et al.]. Terrain classification in complex three-dimensional outdoor environments. "Journal of field robotics", 2015, vol. 32, núm. 1, p. 42-60.
dc.identifier.issn1556-4959
dc.identifier.urihttp://hdl.handle.net/2117/27991
dc.description.abstractThis paper presents two techniques to detect and classify navigable terrain in complex three-dimensional (3D) environments. The first method is a low level on-line mechanism aimed at detecting obstacles and holes at a fast frame rate using a time-of-flight camera as the main sensor. The second technique is a high-level offline classification mechanism that learns traversable regions from larger 3D point clouds acquired with a laser range scanner. We approach the problem using Gaussian processes as a regression tool, in which the terrain parameters are learned, and also for classification, using samples from traversed areas to build the traversable terrain class. The two methods are compared against unsupervised classification, and sample trajectories are generated in the classified areas using a nonholonomic path planner. We show results of both the low-level and the high-level terrain classification approaches in simulations and in real-time navigation experiments using a Segway RMP400 robot. (C) 2014 Wiley Periodicals, Inc.
dc.format.extent19 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherROBOT NAVIGATION
dc.subject.otherTRAVERSABILITY
dc.subject.otherPATHS
dc.titleTerrain classification in complex three-dimensional outdoor environments
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1002/rob.21521
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Transport control::Computerised navigation
dc.relation.publisherversionhttp://onlinelibrary.wiley.com/doi/10.1002/rob.21521/epdf
dc.rights.accessOpen Access
local.identifier.drac15389062
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/605598/EU/Cargo handling by Automated Next generation Transportation Systems for ports and terminals/CARGO-ANTS
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS
local.citation.authorSantamaria, A.; Teniente, E.; Morta , M.; Andrade-Cetto, J.
local.citation.publicationNameJournal of field robotics
local.citation.volume32
local.citation.number1
local.citation.startingPage42
local.citation.endingPage60


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Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain