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dc.contributor.authorMandow, Anthony 
dc.contributor.authorCantador, Tomás J.
dc.contributor.authorReina-Terol, Antonio Jesús 
dc.contributor.authorMartínez, Jorge L.
dc.contributor.authorMorales-Rodríguez, Jesús 
dc.contributor.authorGarcía-Cerezo, Alfonso José 
dc.date.accessioned2015-11-24T08:34:47Z
dc.date.available2016-11-21T05:00:03Z
dc.date.created2016
dc.date.issued2015-11-24
dc.identifier.urihttp://hdl.handle.net/10630/10716
dc.descriptionMandow, A; Cantador, T.J.; Reina, A.J.; Martínez, J.L.; Morales, J.; García-Cerezo, A. "Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots," Robot2015: Second Iberian Robotics Conference, Advances in Robotics, (2016) Advances in Intelligent Systems and Computing, vol. 418. This is a self-archiving copy of the author’s accepted manuscript. The final publication is available at Springer via http://link.springer.com/book/10.1007/978-3-319-27149-1.es_ES
dc.description.abstractThe paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To this end, spherical sub-sampling of the raw scan is proposed to select training data that does not filter out salient obstacles. Besides, rule structure is systematically defined by considering triangular sets with an unevenly distributed standard fuzzy partition and zero order Sugeno-type consequents. This structure, which favors a faster training time and reduces the number of rule parameters, also serves to compute a fuzzy reliability mask for the continuous fuzzy surface. The paper offers a case study using a Hokuyo-based 3D rangefinder to model terrain with and without outstanding obstacles. Performance regarding error and model size is compared favorably with respect to a solution that uses quadric-based surface simplification (QSlim).es_ES
dc.description.sponsorshipThis work was partially supported by the Spanish CICYT project DPI 2011-22443, the Andalusian project PE-2010 TEP-6101, and Universidad de Málaga-Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectRobotses_ES
dc.subject.otherElevation mapses_ES
dc.subject.other3D scannerses_ES
dc.subject.otherFuzzy modelinges_ES
dc.subject.otherMobile robotses_ES
dc.titleBuilding Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robotses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroE.T.S.I. Industriales_ES
dc.rights.ccby-nc-nd
dc.type.hasVersioninfo:eu-repo/semantics/submittedVersiones_ES


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