期刊名称：International Journal of Distributed Sensor Networks
印刷版ISSN：1550-1329
电子版ISSN：1550-1477
出版年度：2014
卷号：2014
DOI：10.1155/2014/795851
出版社：Hindawi Publishing Corporation
摘要：Remote vehicle operator must quickly decide on the motion and path. Thus, rapid and intuitive feedback of the real environment is vital for effective control. This paper presents a real-time traversable ground surface segmentation and intuitive representation system for remote operation of mobile robot. Firstly, a terrain model using voxel-based flag map is proposed for incrementally registering large-scale point clouds in real time. Subsequently, a ground segmentation method with Gibbs-Markov random field (Gibbs-MRF) model is applied to detect ground data in the reconstructed terrain. Finally, we generate a texture mesh for ground surface representation by mapping the triangles in the terrain mesh onto the captured video images. To speed up the computation, we program a graphics processing unit (GPU) to implement the proposed system for large-scale datasets in parallel. Our proposed methods were tested in an outdoor environment. The results show that ground data is segmented effectively and the ground surface is represented intuitively.
