Detection of grass using laser scanner
Smart vehicle is an rapidly increasing field. The ultimate goal is to develop the ability for our cars to travel without human control. As a result, the necessity of applying sensing system becomes more and more important. Laser range finder is a kind of sensor which can provide real-time a...
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| Format: | Theses and Dissertations |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/65079 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Smart vehicle is an rapidly increasing field. The ultimate goal is to develop the
ability for our cars to travel without human control. As a result, the necessity of
applying sensing system becomes more and more important. Laser range finder is a
kind of sensor which can provide real-time and accurate distance information.
In this dissertation, a single laser range finder is used to scan the surroundings.
These data are processed to produce the detection result. Main objective of the
work is to distinguish grass and non-grass and reflect the result in RVIZ. The main
algorithm is to do segmentation first, then use the points of each segment to fit a
line, and finally, calculate the covariance and compare the covariance to a threshold. |
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