Unmanned Ground Vehicle Navigation Using Aerial Ladar Data

  title={Unmanned Ground Vehicle Navigation Using Aerial Ladar Data},
  author={Nicolas Vandapel and Raghavendra Donamukkala and Martial Hebert},
  journal={I. J. Robotics Res.},
In this paper, we investigate the use of overhead high-resolution three-dimensional (3-D) data for enhanci ng the performances of an Unmanned Ground Vehicle (UGV) in vegetated terrains. Data were collected using an airborne laserand provided prior to the robot mission. Through extensive and exhaustive field testing, we demonstrate the significance of such data in two areas: robot localization and global path planni ng. Absolute localization is achieved by registering 3-D local ground ladar data… CONTINUE READING
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