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Segmentation of Laser Range Images with Respect to Range and Variance
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
National Defense Research Establishment, Sweden.
National Defense Research Establishment, Sweden.
1993 (English)In: Proceedings of the 1993 International Symposium on Optics, Imaging, And Instrumentation, 1993, 195-207 p.Conference paper, Published paper (Refereed)
Abstract [en]

Segmentation is a first step towards successful tracking and object recognition in 2-D pictures. Mostly the pictures are segmented with respect to quantities as range, intensity etc. Here a method is presented for segmentation of 2-D laser range pictures with respect to both range and variance simultaneously. This is very useful since man-made objects differ from the background in the terrain by their smoothness. The approach is based on modeling horizontal scans of the terrain as piecewise constant functions. Since the environment has a complicated and irregular structure we use multiple models for modeling different segments in the laser range image. The switching between different models, i.e., ranges belonging to different segments in a horizontal scan, are modeled by a hidden Markov model. The method is of relatively low computational complexity and the maximal complexity can be controlled by the user. Real data is used for illustration of the method.

Place, publisher, year, edition, pages
1993. 195-207 p.
Keyword [en]
Laser, Segmentation, Object recognition, Tracking, Hidden Markov model
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-91153OAI: oai:DiVA.org:liu-91153DiVA: diva2:617358
Conference
1993 International Symposium on Optics, Imaging, and Instrumentation, San Diego, CA, USA, July, 1993
Available from: 2013-04-22 Created: 2013-04-17 Last updated: 2013-07-30

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