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Propose an algorithm to detect road area in front of the robot based on 2.5D range image to satisfy the robot to find passable road lies 20-80 m in front of it. The algorithm builds a 2.5D range image by calibrating ladar and camera. Then, it clusters points in single ladar frame using KNN. Geometrical and color information were used to segment the range image and then road area was abstracted. The...
In this paper, we propose a system which reconstructs the environment with both color and 3D information. We perform extrinsic calibration of a camera and a LRF (laser range finder) to fuse 3D information and color information of objects. We also formularize an equation to measure the result of the calibration. Moreover, we acquire 3D data by rotating 2D LRF with camera, and use ICP (iterative closest...
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