We introduce the problem of autonomous trail following without waypoints and present a vision- and ladar-based system which keeps to continuous hiking and mountain biking trails of relatively low human difficulty. Using a RANSAC-based analysis of ladar scans, trail-bordering terrain is classified as belonging to one of several major types: flat terrain, which exhibits low height contrast between on- and off-trail regions; thickly-vegetated terrain, which has corridor-like structure; and forested terrain, which has sparse obstacles and generally lower visual contrast. An adaptive color segmentation method for flat trail terrain and a height-based corridor-following method for thick terrain are detailed. Results are given for a number of autonomous runs as well as analysis of logged data, and ongoing work on forested terrain is discussed. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Rasmussen, C., & Scott, D. (2008). Terrain-based sensor selection for autonomous trail following. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4931 LNCS, pp. 341–354). https://doi.org/10.1007/978-3-540-78157-8_26
Mendeley helps you to discover research relevant for your work.