Traversable Region Detection and Tracking for a Sparse 3D Laser Scanner for Off-Road Environments Using Range Images

Author:

An Jhonghyun1ORCID

Affiliation:

1. School of Computing, Gachon University, Seongnam-si 1332, Gyeonggi-do, Republic of Korea

Abstract

This study proposes a method for detecting and tracking traversable regions in off-road conditions for unmanned ground vehicles (UGVs). Off-road conditions, such as rough terrain or fields, present significant challenges for UGV navigation, and detecting and tracking traversable regions is essential to ensure safe and efficient operation. Using a 3D laser scanner and range-image-based approach, a method is proposed for detecting traversable regions under off-road conditions; this is followed by a Bayesian fusion algorithm for tracking the traversable regions in consecutive frames. Our range-image-based traversable-region-detection approach enables efficient processing of point cloud data from a 3D laser scanner, allowing the identification of traversable areas that are safe for the unmanned ground vehicle to drive on. The effectiveness of the proposed method was demonstrated using real-world data collected during UGV operations on rough terrain, highlighting its potential as a solution for improving UGV navigation capabilities in challenging environments.

Funder

National Research Foundation of Kore

Gachon University

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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