Utilize este identificador para referenciar este registo: http://hdl.handle.net/10362/13187
Título: A volumetric hybrid representation for obstacle detection in all-terrain robots
Autor: Lourenço, André Filipe Lopes
Orientador: Oliveira, José
Santana, Pedro
Palavras-chave: Obstacle detection
Vegetation detection
3D perception
Autonomous robots
All-terrain robots
Data de Defesa: Mar-2014
Resumo: This dissertation presents an approach aimed at three-dimensional perception’s obstacle detection on all-terrain robots. Given the huge amount of acquired information, the adversities such environments present to an autonomous system and the swiftness, thus required, from each of its navigation decisions, it becomes imperative that the 3-D perceptional system to be able to map obstacles and passageways in the most swift and detailed manner. In this document, a hybrid approach is presented bringing the best of several methods together, combining the lightness of lesser meticulous analyses with the detail brought by more thorough ones. Realizing the former, a terrain’s slope mapping system upon a low resolute volumetric representation of the surrounding occupancy. For the latter’s detailed evaluation, two novel metrics were conceived to discriminate the little depth discrepancies found in between range scanner’s beam distance measurements. The hybrid solution resulting from the conjunction of these two representations provides a reliable answer to traversability mapping and a robust discrimination of penetrable vegetation from that constituting real obstructions. Two distinct robotic platforms offered the possibility to test the hybrid approach on very different applications: a boat, under an European project, the ECHORD Riverwatch, and a terrestrial four-wheeled robot for a national project, the Introsys Robot.
URI: http://hdl.handle.net/10362/13187
Designação: Dissertação
Aparece nas colecções:FCT: DEE - Dissertações de Mestrado

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