@inproceedings{9056f9d22c954a7c9dbd578ec4682fb8,
title = "Real-time localization of an unmanned ground vehicle using a 360 degree range sensor",
abstract = "A computer vision technique for the localization of an unmanned ground vihicle (UGV) is presented. The proposed technique is based on 3D registration of a sequence of 360 degree range data and a digital surface model (DSM). 3D registration of a sequence of dense range data requires a large computation time. For real time localization, we propose projection-based registration and uniform arc length sampling (UALS) techniques. UALS reduces the number of 3D sample points while maintaining their uniformity over range data in terms of ground sample distance. The projection-based registration technique reduces the time of 3D correspondence search. Experimental results from two real navigation paths are shown to verify the performance of the proposed method.",
keywords = "3D sensor, Localization, Registration, Unmanned vehicle",
author = "Park, {Soon Yong} and Choi, {Sung In}",
year = "2011",
language = "English",
isbn = "9789898425478",
series = "VISAPP 2011 - Proceedings of the International Conference on Computer Vision Theory and Application",
pages = "610--613",
booktitle = "VISAPP 2011 - Proceedings of the International Conference on Computer Vision Theory and Application",
note = "International Conference on Computer Vision Theory and Application, VISAPP 2011 ; Conference date: 05-03-2011 Through 07-03-2011",
}