A novel filter for terrain mapping with laser rangefinders

This paper introduces a novel filter for terrain mapping with a two-dimensional laser rangefinder. The filter, called the certainty-assisted spatial (CAS) filter, uses the physical constraints on motion continuity and spatial continuity to identify corrupted pixels and missing data in an elevation m...

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Vydáno v:IEEE transactions on robotics Ročník 20; číslo 5; s. 913 - 923
Hlavní autoři: Cang Ye, Borenstein, J.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.10.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Applied sciences
Computer science; control theory; systems
Content addressable storage
Continuity
Control theory. Systems
Elevation
Exact sciences and technology
Filtering
Filters
Fundamental areas of phenomenology (including applications)
Laser beams
Laser theory
Lasers
Least squares approximation
Missing data
Mobile robots
Navigation
Navigation systems
Optical elements, devices, and systems
Optics
Outdoor
Physics
Pixels
Preserves
Range finders, remote sensing devices, laser doppler velocimeters, sar, and lidar
Robotics
Robots
Terrain mapping
Vehicles
Filtering
Indoor installation
Moving robot
Laser range finder
Terrain mapping
ISSN:1552-3098, 1941-0468
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Popis
Shrnutí:This paper introduces a novel filter for terrain mapping with a two-dimensional laser rangefinder. The filter, called the certainty-assisted spatial (CAS) filter, uses the physical constraints on motion continuity and spatial continuity to identify corrupted pixels and missing data in an elevation map. The filter removes the corrupted pixels, fills in the missing data, and leaves the uncorrupted pixels intact so as to preserve the details of a terrain map. Our extensive indoor and outdoor mapping experiments show the CAS filter's superior performance in erroneous data reduction and map detail preservation over conventional filters.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829457