Sensors 2012, 12(8), 11221-11237; doi:10.3390/s120811221
Article

Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes

Wei Song 1 email, Kyungeun Cho 1,* email, Kyhyun Um 1 email, Chee Sun Won 2 email and Sungdae Sim 3 email
1 Department of Multimedia Engineering, Dongguk University-Seoul, 26 Pildong 3 Ga, Jung-gu, Seoul 100-715, Korea 2 Division of Electronics and Electrical Engineering, Dongguk University-Seoul, 26 Pildong 3 Ga, Jung-gu, Seoul 100-715, Korea 3 Agency for Defense Development, Bugyuseong daero 488 beon gi, Yoseong, Daejeon 305-152, Korea
* Author to whom correspondence should be addressed.
Received: 16 July 2012; in revised form: 7 August 2012 / Accepted: 7 August 2012 / Published: 13 August 2012
(This article belongs to the Special Issue Ubiquitous Sensing)
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Abstract: Terrain classification allows a mobile robot to create an annotated map of its local environment from the three-dimensional (3D) and two-dimensional (2D) datasets collected by its array of sensors, including a GPS receiver, gyroscope, video camera, and range sensor. However, parts of objects that are outside the measurement range of the range sensor will not be detected. To overcome this problem, this paper describes an edge estimation method for complete scene recovery and complete terrain reconstruction. Here, the Gibbs-Markov random field is used to segment the ground from 2D videos and 3D point clouds. Further, a masking method is proposed to classify buildings and trees in a terrain mesh.
Keywords: mobile robot; terrain reconstruction; multisensor integration; Gibbs-MRF; classification

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Cite This Article

MDPI and ACS Style

Song, W.; Cho, K.; Um, K.; Won, C.S.; Sim, S. Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes. Sensors 2012, 12, 11221-11237.

AMA Style

Song W, Cho K, Um K, Won CS, Sim S. Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes. Sensors. 2012; 12(8):11221-11237.

Chicago/Turabian Style

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae. 2012. "Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes." Sensors 12, no. 8: 11221-11237.

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