TitleAutonomous Terrain Mapping and Classification Using Hidden Markov Models
Publication TypeConference Paper
Year of Publication2005
AuthorsWolf D, Sukhatme G, Fox, D.and Burgard W
Conference NameICRA

<p>This paper presents a new approach for terrain mapping and classification using mobile robots with 2D laser range finders. Our algorithm generates 3D terrain maps and classifies navigable and non-navigable regions on those maps using Hidden Markov models. The maps generated by our approach can be used for path planning, navigation, local obstacle avoidance, detection of changes in the terrain, and object recognition. We propose a map segmentation algorithm based on Markov Random Fields, which removes small errors in the classification. In order to validate our algorithms, we present experimental results using two robotic platforms.</p>


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Citation KeyWol05Aut