A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners
文献类型：期刊论文
| 作者 | Zhuang Y(庄严); He, Guojian; Hu, Huosheng; Wu ZW(吴镇炜)
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| 刊名 | Transactions of the Institute of Measurement and Control
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| 出版日期 | 2015 |
| 卷号 | 37期号:4页码:435-445 |
| 关键词 | 3D point clouds laser scanner unmanned ground vehicles urban scene understanding |
| ISSN号 | 0142-3312 |
| 产权排序 | 1 |
| 通讯作者 | 庄严 |
| 中文摘要 | Outdoor scene understanding plays a key role for unmanned ground vehicles (UGVs) to navigate in complex urban environments. This paper presents a novel 3D scene-understanding framework for UGVs to handle uncertain and changing lighting conditions outdoors. A 2D bearing angle (BA) image is deployed to perform scene understanding so that the computational burden in the process of segmentation and classification of the 3D laser point cloud can be reduced. An improved super-pixel algorithm is used for fast 3D scene segmentation, and then the Gentle-Adaboost algorithm is utilized to perform super-pixel patch classification using the texture features of the Gray Level Co-occurrence Matrix. All false classification results in the uncertain super-pixel patches of BA images are transformed back to raw 3D laser points and a re-classification is conducted to refine the 3D scene understanding for UGVs. The results from a real laser dataset taken from a large-scale campus environment show the validity and robust performance of the proposed approach, in comparison with the results from Korea Advanced Institute of Science and Technology dataset. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Instruments & Instrumentation |
| 关键词[WOS] | CLASSIFICATION ; SEGMENTATION |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000351052900001 |
| 公开日期 | 2015-03-30 |
| 源URL | [http://ir.sia.cn/handle/173321/15776]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhuang Y,He, Guojian,Hu, Huosheng,et al. A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners[J]. Transactions of the Institute of Measurement and Control,2015,37(4):435-445. |
| APA | Zhuang Y,He, Guojian,Hu, Huosheng,&Wu ZW.(2015).A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners.Transactions of the Institute of Measurement and Control,37(4),435-445. |
| MLA | Zhuang Y,et al."A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners".Transactions of the Institute of Measurement and Control 37.4(2015):435-445. |
入库方式： OAI收割
来源：沈阳自动化研究所
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