| Classification of Binary Obstacle Terrain Based on 3D World Models for Unmanned Robots |
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Gang-Gyoo Jin, Hyun-Sik Lee, Yun-Hyung Lee, Young-Il Lee, Yong-Woon Park |
1Korea Maritime University
2DTAQ
3KPTIP
4 |
| 무인로봇을 위한 3D 월드모델에 기초한 Binary 장애지형의 판정 |
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진강규, 이현식, 이윤형, 이영일, 박용운 |
1한국해양대학교
2국방기술품질원
3한국항만연수원 부산연수원
4국방과학연구소 |
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| Abstract |
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Recently, the applications of unmanned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. To perform their missions with success, the robots should be able to evaluate terrain's characteristics quantitatively and identify traversable regions to progress toward a goal using mounted sensors. Recently, the authors have proposed techniques that extract terrain information and analyze traversability for off-road navigation of an unmanned robot. In this paper, we examine the use of 3D world models(terrain maps) to classify obstacle and safe terrain for increasing the reliability of the proposed techniques. A world model is divided into several patches and each patch is classified as belonging either to an obstacle or a non-obstacle using three types of metrics. The effectiveness of the proposed method is verified on real terrain maps. |
| Key Words:
Unmanned Robot, 3D World Model, Terrain Map, Binary Obstacle Terrain |
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