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dc.contributor.authorReina-Terol, Antonio Jesús 
dc.contributor.authorMartínez, Jorge L.
dc.contributor.authorMandow, Anthony 
dc.contributor.authorMorales-Rodríguez, Jesús 
dc.contributor.authorGarcía-Cerezo, Alfonso José 
dc.date.accessioned2014-07-15T09:58:36Z
dc.date.available2014-07-15T09:58:36Z
dc.date.created2014-07-14
dc.date.issued2014-07-11
dc.identifier.citationIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Besançon, Francees_ES
dc.identifier.urihttp://hdl.handle.net/10630/7838
dc.description.abstractElevation maps offer a compact 2 1/2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds con- taining overhangs, such as tree canopy or tunnels, can produce useless results. This paper proposes a simple processing of a ground-based point cloud that identifies and removes overhang points that do not constitute an obstacle for navigation while keeping vertical structures such as walls or tree trunks. The procedure uses efficient data structures to collapse unsupported 3D cubes down to the ground. This method has been successfully applied to 3D laser scans taken from a mobile robot in outdoor environments in order to build local elevation maps for navigation. Computation times show an improvement with respect to a previous point-based solution to this problem.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.publisherIEEEes_ES
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.otherMobile robotes_ES
dc.subject.otherAutonomous navigationes_ES
dc.subject.other3D point cloudses_ES
dc.titleCollapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Mapses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroE.T.S.I. Industriales_ES
dc.relation.eventtitleIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)es_ES
dc.relation.eventplaceBesançon, Francees_ES
dc.relation.eventdateJulio 2014es_ES


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