snowBOTS: a mobile robot on snow covered ice
We introduce snowBOTs as a generic name for robots working in snow. This paper is a study on using scan ning range measuring lasers towards an autonomous snow cleaning robot, working in an environment consisting al most entirely of snow and ice. The problem addressed here is using lasers for detecti...
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Luleå tekniska universitet, EISLAB
2007
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ftluleatu:oai:DiVA.org:ltu-31828 2023-05-15T15:04:40+02:00 snowBOTS: a mobile robot on snow covered ice Fredriksson, Håkan Rönnbäck, Sven Berglund, Tomas Wernersson, Åke Hyyppä, Kalevi 2007 application/pdf http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-31828 eng eng Luleå tekniska universitet, EISLAB Anaheim, Calif. Proceedings of the 13th IASTED International Conference on Robotics and Applications : August 29 - 31, 2007, Würzburg, Germany, p. 222-228 http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-31828 urn:isbn:9780889866850 Local 61ef13e0-5f9b-11dc-807a-000ea68e967b info:eu-repo/semantics/openAccess Other Electrical Engineering Electronic Engineering Information Engineering Annan elektroteknik och elektronik Conference paper info:eu-repo/semantics/conferenceObject text 2007 ftluleatu 2022-10-25T20:50:33Z We introduce snowBOTs as a generic name for robots working in snow. This paper is a study on using scan ning range measuring lasers towards an autonomous snow cleaning robot, working in an environment consisting al most entirely of snow and ice. The problem addressed here is using lasers for detecting the edges generated by "the snow meeting the road". First the laser data were filtered using his togram/median to discriminate against falling snowflakes and small objects. Then the road surface was extracted us ing the range weighted Hough/Radon transform. Finally the left and right edges of the road was detected by thresh olding. Tests have been made with a laser on top of a car driven in an automobile test range just south of the Arctic Circle. Moreover, in the campus area, the algorithms were tested in closed loop with the laser on board a robotized wheelchair. Validerad; 2007; 20070910 (hf) CASTT - Centre for Automotive Systems Technologies and Testing Conference Object Arctic Luleå University of Technology Publications (DiVA) Arctic |
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Luleå University of Technology Publications (DiVA) |
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English |
topic |
Other Electrical Engineering Electronic Engineering Information Engineering Annan elektroteknik och elektronik |
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Other Electrical Engineering Electronic Engineering Information Engineering Annan elektroteknik och elektronik Fredriksson, Håkan Rönnbäck, Sven Berglund, Tomas Wernersson, Åke Hyyppä, Kalevi snowBOTS: a mobile robot on snow covered ice |
topic_facet |
Other Electrical Engineering Electronic Engineering Information Engineering Annan elektroteknik och elektronik |
description |
We introduce snowBOTs as a generic name for robots working in snow. This paper is a study on using scan ning range measuring lasers towards an autonomous snow cleaning robot, working in an environment consisting al most entirely of snow and ice. The problem addressed here is using lasers for detecting the edges generated by "the snow meeting the road". First the laser data were filtered using his togram/median to discriminate against falling snowflakes and small objects. Then the road surface was extracted us ing the range weighted Hough/Radon transform. Finally the left and right edges of the road was detected by thresh olding. Tests have been made with a laser on top of a car driven in an automobile test range just south of the Arctic Circle. Moreover, in the campus area, the algorithms were tested in closed loop with the laser on board a robotized wheelchair. Validerad; 2007; 20070910 (hf) CASTT - Centre for Automotive Systems Technologies and Testing |
format |
Conference Object |
author |
Fredriksson, Håkan Rönnbäck, Sven Berglund, Tomas Wernersson, Åke Hyyppä, Kalevi |
author_facet |
Fredriksson, Håkan Rönnbäck, Sven Berglund, Tomas Wernersson, Åke Hyyppä, Kalevi |
author_sort |
Fredriksson, Håkan |
title |
snowBOTS: a mobile robot on snow covered ice |
title_short |
snowBOTS: a mobile robot on snow covered ice |
title_full |
snowBOTS: a mobile robot on snow covered ice |
title_fullStr |
snowBOTS: a mobile robot on snow covered ice |
title_full_unstemmed |
snowBOTS: a mobile robot on snow covered ice |
title_sort |
snowbots: a mobile robot on snow covered ice |
publisher |
Luleå tekniska universitet, EISLAB |
publishDate |
2007 |
url |
http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-31828 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_relation |
Proceedings of the 13th IASTED International Conference on Robotics and Applications : August 29 - 31, 2007, Würzburg, Germany, p. 222-228 http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-31828 urn:isbn:9780889866850 Local 61ef13e0-5f9b-11dc-807a-000ea68e967b |
op_rights |
info:eu-repo/semantics/openAccess |
_version_ |
1766336391536443392 |