Finding Organized Structures in 3-D LADAR Data
Abstract
In this paper, we address the problem of finding concertina wire in three-dimensional (3-D) data. Wire entanglements constitute a major obstacle to the mobility of Unmanned Ground Vehicle because of their widespread use and the difficulty to detect them. We pose the problem in term of finding thin structures organized in complex patterns. Such problem did not received as much attention as linear and planar structures segmentation. We are interested especially in the problems posed by repetitive and symmetric structures acquired with a laser range finder. The method relies on 3-D data projections along specific directions and 2-D histograms comparison. The sensitivity of the classification algorithm to the parameter settings is evaluated and a segmentation method proposed.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 2004
- Accession Number
- ADA432892
Entities
People
- Martial Hebert
- Nicolas Vandapel
Organizations
- Carnegie Mellon University