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Natural landmark extraction in cluttered forested environments
Nankai University, Tianjin, China.
Nankai University, Tianjin, China.
MIT.
2012 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, Piscataway, N.J.: IEEE Press, 2012, p. 4836-4843Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a new systematical method for extracting tree trunk landmarks from 3D point clouds of cluttered forested environments is proposed. This purely geometric method is established on scene understanding and automatic analysis of trees. The pipeline of our method includes three steps. First, the raw point clouds are segmented by utilizing the circular shape of trees, and segments are grouped into tree sections based on the principle of spatial proximity. Second, circles and axes are extracted from tree sections which are subject to loss of shape information. Third, by clustering and integrating the tree sections resulted from various space inconsistencies, straight tree trunk landmarks are finally formed for future localization. The experimental results from real forested environments are presented. © 2012 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2012. p. 4836-4843
Series
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
Keywords [en]
Feature extraction, Fitting, Measurement by laser beam, Robot sensing systems, Shape, Vegetation, feature extraction, forestry, geometry, pattern clustering, vegetation, 3D point clouds, circular shape, cluttered forested environments, geometric method, natural landmark extraction, new systematical method, scene understanding, shape information, spatial proximity, tree sections, tree trunk landmarks
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20834DOI: 10.1109/ICRA.2012.6224680ISI: 000309406704131Scopus ID: 2-s2.0-84864487636ISBN: 978-146731403-9 OAI: oai:DiVA.org:hh-20834DiVA, id: diva2:586699
Conference
IEEE International Conference on Robotics and Automation (ICRA), St Paul, MN, USA, MAY 14-18, 2012
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf