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Traversability analysis for a mine safety inspection robot

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dc.contributor.author Senekal, F
dc.date.accessioned 2013-11-06T09:14:48Z
dc.date.available 2013-11-06T09:14:48Z
dc.date.issued 2013-09
dc.identifier.citation Senekal, F. 2013. Traversability analysis for a mine safety inspection robot. In: IEEE AFRICON 2013, Mauritius, 9-12 September 2013 en_US
dc.identifier.uri http://hdl.handle.net/10204/7031
dc.description IEEE AFRICON 2013, Mauritius, 9-12 September 2013. Abstract only attached en_US
dc.description.abstract A new fast algorithm for traversability analysis of an arbitrary three-dimensional point cloud is presented. The algorithm segments a three-dimensional point cloud into vertical sections; each of which is clustered into bins and further analysed to determine potentially drivable surfaces. Connectivity between neighbouring drivable surfaces is used to determine obstacle, drivable, unsafe, unreachable and frontier cells. The algorithm is successfully applied to determine a traversability map for a Mine Safety Inspection Robot in an artificial stope. en_US
dc.language.iso en en_US
dc.relation.ispartofseries Workflow;11679
dc.subject Mine safety inspection robot en_US
dc.subject Traversability analysis en_US
dc.subject Three-dimensional point clouds en_US
dc.subject Robotics en_US
dc.title Traversability analysis for a mine safety inspection robot en_US
dc.type Conference Presentation en_US
dc.identifier.apacitation Senekal, F. (2013). Traversability analysis for a mine safety inspection robot. http://hdl.handle.net/10204/7031 en_ZA
dc.identifier.chicagocitation Senekal, F. "Traversability analysis for a mine safety inspection robot." (2013): http://hdl.handle.net/10204/7031 en_ZA
dc.identifier.vancouvercitation Senekal F, Traversability analysis for a mine safety inspection robot; 2013. http://hdl.handle.net/10204/7031 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - Senekal, F AB - A new fast algorithm for traversability analysis of an arbitrary three-dimensional point cloud is presented. The algorithm segments a three-dimensional point cloud into vertical sections; each of which is clustered into bins and further analysed to determine potentially drivable surfaces. Connectivity between neighbouring drivable surfaces is used to determine obstacle, drivable, unsafe, unreachable and frontier cells. The algorithm is successfully applied to determine a traversability map for a Mine Safety Inspection Robot in an artificial stope. DA - 2013-09 DB - ResearchSpace DP - CSIR KW - Mine safety inspection robot KW - Traversability analysis KW - Three-dimensional point clouds KW - Robotics LK - https://researchspace.csir.co.za PY - 2013 T1 - Traversability analysis for a mine safety inspection robot TI - Traversability analysis for a mine safety inspection robot UR - http://hdl.handle.net/10204/7031 ER - en_ZA


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