Traversable terrain classification for outdoor autonomous robots using single 2D laser scans

Abstract

Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses seven distinctly different classifiers: raw height, roughness, step size, curvature, slope, width and invalid data. These are then used to extract road borders, traversable terrain and identify obstacles. Experimental results are shown and discussed. The results were obtained using a DTU developed mobile robot, and the autonomous tests were conducted in a national park environment.

Off-road Robotics—An Overview

“…Evaluated are 2D [3,67] or sometimes 3D data [101] by typical methods for object recognition (see [36,63]). …”

Electromechanical 3D Optoelectronic Scanners: Resolution Constraints and Possible Ways of Improvement

“…(2003). Let us compare constructions and advantages/disadvantages of the different laser scanner constructions according to the next literature sources: (Son et al, 2002), (Wulf & Wagner, 2003), (Nüchter, 2007), (Nüchter, 2008), (Wulf et al, 2004), (Surmann, 2003), (Surmann et al, 2001), (Hähnel & Burgard, 2002), (Blais et al, 1988), , , (Andersen et al, 2006), (Laurin et al, 1996 ), (Blais et al, 1991), (Klöör et al, 1993), (Vandapel et al, 2004), (Montemerlo & Thrun, 2004), (Pagnottelli et al, 2005), (Sergiyenko et al, 2006). Fig.…”

“…Autonomous navigation by mobile robots in unstructured or semi-structured outdoor environments presents a considerable challenge (Andersen et al, 2006). Adequately solving this challenge would allow robotic applications within industries such as agriculture, mining and logging.…”

Lidar-based road terrain recognition for passenger vehicles

“…This approach presented successfully identified obstacles on the terrain of the mobile robot environment. Andersen et al (2006) did not divide the terrain map into segments. The terrain was classified to find a traversable region through scans.…”