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3D Terrain Reconstruction Using 2D Laser Range Finder and Camera Based on Cubic Grid for UGV Navigation  

Joung, Ji-Hoon (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
An, Kwang-Ho (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
Kang, Jung-Won (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
Kim, Woo-Hyun (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
Chung, Myung-Jin (Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.45, no.6, 2008 , pp. 26-34 More about this Journal
Abstract
The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.
Keywords
3D terrain reconstruction; camera and LRF calibration; cubic grid model; linked list kd-tree;
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