REAL-TIME LOCALIZATION OF AN UNMANNED GROUND VEHICLE USING A 360 DEGREE RANGE SENSOR

Soon-Yong Park, Sung-In Choi

Abstract

A computer vision technique for the localization of an unmanned ground vihicle (UGV) is presented. The proposed technique is based on 3D registration of a sequence of 360 degree range data and a digital surface model (DSM). 3D registration of a sequence of dense range data requires a large computation time. For real time localization, we propose projection-based registration and uniform arc length sampling (UALS) techniques. UALS reduces the number of 3D sample points while maintaining their uniformity over range data in terms of ground sample distance. The projection-based registration technique reduces the time of 3D correspondence search. Experimental results from two real navigation paths are shown to verify the performance of the proposed method.

References

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Paper Citation


in Harvard Style

Park S. and Choi S. (2011). REAL-TIME LOCALIZATION OF AN UNMANNED GROUND VEHICLE USING A 360 DEGREE RANGE SENSOR . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 610-613. DOI: 10.5220/0003362406100613


in Bibtex Style

@conference{visapp11,
author={Soon-Yong Park and Sung-In Choi},
title={REAL-TIME LOCALIZATION OF AN UNMANNED GROUND VEHICLE USING A 360 DEGREE RANGE SENSOR},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={610-613},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003362406100613},
isbn={978-989-8425-47-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - REAL-TIME LOCALIZATION OF AN UNMANNED GROUND VEHICLE USING A 360 DEGREE RANGE SENSOR
SN - 978-989-8425-47-8
AU - Park S.
AU - Choi S.
PY - 2011
SP - 610
EP - 613
DO - 10.5220/0003362406100613