A Probability Occupancy Grid Based Approach for Real-Time LiDAR Ground Segmentation

2020 ◽  
Vol 21 (3) ◽  
pp. 998-1010 ◽  
Author(s):  
Zhongzhen Luo ◽  
Martin V. Mohrenschildt ◽  
Saeid Habibi
Keyword(s):  
Real Time ◽  
Occupancy Grid ◽  
Ground Segmentation ◽  
Grid Based

Dynamic world modeling for a mobile robot among moving objects

Robotica ◽  
1996 ◽  
Vol 14 (5) ◽  
pp. 553-560
Author(s):  
Yuefeng Zhang ◽  
Robert E. Webber
Keyword(s):  
Mobile Robot ◽  
Hough Transform ◽  
Moving Objects ◽  
Grid Method ◽  
Experimental Results ◽  
Sensor Data ◽  
Probabilistic Estimation ◽  
Occupancy Grid ◽  
World Modeling ◽  
Grid Based

SUMMARYA grid-based method for detecting moving objects is presented. This method involves the extension and combination of two methods: (1) the Hough Transform and (2) the Occupancy Grid method. The Occupancy Grid method forms the basis for a probabilistic estimation of the location and velocity of objects in the scene from the sensor data. The Hough Transform enables the new method to handle non-integer velocity values. A model for simulating a sonar ring is also presented. Experimental results show that this method can handle objects moving at non-integer velocities.

scholarly journals Adaptive ground segmentation method for real-time mobile robot control

2017 ◽  
Vol 14 (6) ◽  
pp. 172988141774813 ◽  
Author(s):  
Hoang Vu ◽  
Hieu Trong Nguyen ◽  
Phuong Minh Chu ◽  
Weiqiang Zhang ◽  
Seoungjae Cho ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Robot Control ◽  
Segmentation Method ◽  
Ground Segmentation ◽  
Mobile Robot Control
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