What is it about?
Segmentation of an organized point cloud obtained from a 3D LIDAR representing the environment surrounding an outdoor mobile robot into ground and different objects.
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Why is it important?
Identification of ground region and distinct objects improves the perception of robot about its surroundings. Objects identified can be used in further navigation stages where they can be classified into different categories and tracked according to their generic characteristics.
Perspectives
A simple method using the range difference between the neighbouring points is used in segmenting discernable objects around a mobile robot. Thresholds are easier to set and objects are segmented by a simple region growing algorithm.
Mr. Satish Kumar Reddy
Bhabha Atomic Research Centre, Homi Bhabha National Institute
Read the Original
This page is a summary of: Segmentation of point cloud from a 3D LIDAR using range difference between neighbouring beams, January 2015, ACM (Association for Computing Machinery),
DOI: 10.1145/2783449.2783504.
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