A new real-time algorithm for off-road terrain estimation using laser data
Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it wit...
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| Veröffentlicht in: | Science China. Information sciences 2009-09, Vol.52 (9), p.1658-1667 |
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| container_title | Science China. Information sciences |
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| creator | Qiu, Quan Yang, TangWen Han, JianDa |
| description | Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA. |
| doi_str_mv | 10.1007/s11432-009-0157-y |
| format | Article |
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| subjects | Algorithms Clustering Computer Science Information Systems and Communication Service Mathematical analysis Obstacle avoidance Real time Roads Terrain 地形数据 均方误差矩阵 实时性能 时间算法 激光扫描 环境状况 |
| title | A new real-time algorithm for off-road terrain estimation using laser data |
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