논문명 | Traversable Ground Surface Segmentation and Modeling for Real-Time Mobile Mapping |
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논문종류 | SCI |
저자 | Wei Song, Seoungjae Cho, Kyungeun Cho, Kyhyun Um, Chee Sun Won, Sungdae Sim |
Impact Factor | 0.923 |
게재학술지명 | INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS |
게재일 | 2014.04 |
Remote vehicle operator must quickly decide on the motion and path.Thus, rapid and intuitive feedback of the real environment is vital for effective control. This paper presents a real-time traversable ground surface segmentation and intuitive representation system for remote operation of mobile robot. Firstly, a terrain model using voxel-based flag map is proposed for incrementally registering large-scale point clouds in real time. Subsequently, a ground segmentation method with Gibbs-Markov random field(Gibbs-MRF) model is applied to detect ground data in the reconstructed terrain. Finally, we generate a texture mesh for ground surface representation by mapping the triangles in the terrain mesh onto the captured video images. To speed up the computation, we program a graphics processing unit (GPU) to implement the proposed system for large-scale datasets in parallel. Our proposed methods were tested in an outdoor environment. The results show that ground data is segmented effectively and the ground surface is represented intuitively. |