posted on 2007-01-01, 00:00authored byNicholas Heckman, Jean-Francois Lalonde, Nicolas Vandapel, Martial Hebert
In this paper, we present an approach for potential
negative obstacle detection based on missing data interpretation
that extends traditional techniques driven by data only
which capture the occupancy of the scene. The approach is
decomposed into three steps: three-dimensional (3-D) data accumulation
and low level classification, 3-D occluder propagation,
and context-based occlusion labeling. The approach is validated
using logged laser data collected in various outdoor natural
terrains and also demonstrated live on-board the Demo-III
eXperimental Unmanned Vehicle (XUV).