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Building Fuzzy Elevation Maps from a Ground-Based 3D Laser Scan for Outdoor Mobile Robots

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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

Abstract

The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To this end, spherical sub-sampling of the raw scan is proposed to select training data that does not filter out salient obstacles. Besides, rule structure is systematically defined by considering triangular sets with an unevenly distributed standard fuzzy partition and zero order Sugeno-type consequents. This structure, which favors a faster training time and reduces the number of rule parameters, also serves to compute a fuzzy reliability mask for the continuous fuzzy surface. The paper offers a case study using a Hokuyo-based 3D rangefinder to model terrain with and without outstanding obstacles. Performance regarding error and model size are compared favorably with respect to a solution that uses quadric-based surface simplification (QSlim).

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Author information

Authors and Affiliations

  1. Dpto. Ingeniería de Sistemas y Automática, Universidad de Málaga, Andalucía Tech, 29071, Málaga, Spain

    Anthony Mandow, Tomás J. Cantador, Antonio J. Reina, Jorge L. Martínez, Jesús Morales & Alfonso García-Cerezo

Authors
  1. Anthony Mandow
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  2. Tomás J. Cantador
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  3. Antonio J. Reina
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  4. Jorge L. Martínez
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  5. Jesús Morales
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  6. Alfonso García-Cerezo
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Corresponding author

Correspondence to Anthony Mandow .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Mandow, A., Cantador, T.J., Reina, A.J., Martínez, J.L., Morales, J., García-Cerezo, A. (2016). Building Fuzzy Elevation Maps from a Ground-Based 3D Laser Scan for Outdoor Mobile Robots. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_3

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-319-27146-0

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