A graph traversal based algorithm for obstacle detection using lidar or stereo

@article{Kuthirummal2011AGT,
  title={A graph traversal based algorithm for obstacle detection using lidar or stereo},
  author={Sujit Kuthirummal and Aveek Das and Supun Samarasekera},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={3874-3880}
}
We present a novel computationally efficient approach to obstacle detection that is applicable to both structured (e.g. indoor, road) and unstructured (e.g. off-road, grassy terrain) environments. In contrast to previous works that attempt to explicitly identify obstacles, we explicitly detect scene regions that are traversable - safe for the robot to go to - from its current position. Traversability is defined on a 2D grid of cells. Given 3D points, we map them to individual cells and compute… CONTINUE READING

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