RT Journal Article
T1 Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots
A1 Mandow, Anthony
A1 Cantador, Tomás J.
A1 Reina-Terol, Antonio Jesús
A1 Martínez, Jorge L.
A1 Morales-Rodríguez, Jesús
A1 García-Cerezo, Alfonso José
K1 Robots
AB The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computationalspeed 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 partitionand zero order Sugeno-type consequents. This structure, which favors a faster training time and reduces the number of ruleparameters, also serves to compute a fuzzy reliability mask for the continuous fuzzy surface. The paper offers a case studyusing a Hokuyo-based 3D rangefinder to model terrain with and without outstanding obstacles. Performance regarding errorand model size is compared favorably with respect to a solution that uses quadric-based surface simplification (QSlim).
YR 2015
FD 2015-11-24
LK http://hdl.handle.net/10630/10716
UL http://hdl.handle.net/10630/10716
LA eng
NO Mandow, 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 viahttp://link.springer.com/book/10.1007/978-3-319-27149-1.
NO This 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.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 22 ene 2026