Iterative registration of 3D LADAR data for autonomous navigation

被引：14

作者：

Madhavan, R ^{[1
]}

Messina, E ^{[1
]}

机构：

[1] Natl Inst Stand & Technol, Mfg Engn Lab, Intelligent Syst Div, Gaithersburg, MD 20899 USA

来源：

IEEE IV2003: INTELLIGENT VEHICLES SYMPOSIUM, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/IVS.2003.1212906

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper describes an iterative algorithm for registration of 3D LADAR data. The proposed approach is iconic in nature with suitable modifications to deal with false/spurious matches, occlusions and outliers. Experimental results using data obtained from field trials on an eXperimental Unmanned Vehicle (XUV) are presented to demonstrate the efficacy of the approach. The paper also details ongoing research efforts to determine the feasibility of employing the algorithm for real-time autonomous navigation.

引用

页码：186 / 191

页数：6

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