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3D Mapping of Outdoor Environment Using Clustering Techniques

Manuel Yguel 1, 2 Olivier Aycard 1, 3, *
* Corresponding author
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : The goal of mapping is to build a map of the environment using raw data provided by some sensors embedded on an intelligent vehicle. This map is used by an intelligent vehicle to have knowledge about its surrounding environment to better plan its future actions. In this paper, we present a method, based on occupancy grids [3], to map 3D environment. In this method, we discretize the environment in cells and the shape of each cell is approximated by one or several gaussians in order to achieve a balance between representational complexity and accuracy. Experimental results on 3D real outdoor data provided by a lidar are shown: a map of an urban environment is presented. Moreover a quantitative comparison of our method with state of the art methods is presented to show the interest of the method.
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https://hal.archives-ouvertes.fr/hal-00742597
Contributor : Olivier Aycard <>
Submitted on : Tuesday, October 16, 2012 - 4:23:58 PM
Last modification on : Monday, April 20, 2020 - 11:24:01 AM

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Manuel Yguel, Olivier Aycard. 3D Mapping of Outdoor Environment Using Clustering Techniques. ICTAI 2011 - 23rd IEEE International Conference on Tools with Artificial Intelligence, Nov 2011, Boca Raton, Florida, United States. pp.403-408, ⟨10.1109/ICTAI.2011.66⟩. ⟨hal-00742597⟩

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