Terrain surface classification for autonomous ground vehicles using a 2D laser stripe-based structured light sensor.
Liang LuCamilo OrdonezEmmanuel G. Collins Jr.Edmond M. DuPontPublished in: IROS (2009)
Keyphrases
- structured light
- ground vehicles
- active stereo vision
- range sensors
- object surface
- path planning
- range data
- surface discontinuities
- single image
- active stereo
- photometric stereo
- ambient light
- light source
- principal curvatures
- collision avoidance
- phase shifting
- space time
- high speed camera
- color coded
- feature extraction
- laser scanner
- surface reconstruction
- mobile robot
- global illumination
- spatio temporal
- three dimensional
- reflectance properties
- surface properties
- laser beam
- smooth surfaces
- multiresolution
- viewpoint
- training set