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complete scene recovery and terrain classification in textured terrain meshes完成现场恢复和变形地形网格地形分类.pdf

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complete scene recovery and terrain classification in textured terrain meshes完成现场恢复和变形地形网格地形分类

Sensors 2012, 12, 11221-11237; doi:10.3390/s120811221 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes Wei Song 1, Kyungeun Cho 1,*, Kyhyun Um 1, Chee Sun Won 2 and Sungdae Sim 3 1 Department of Multimedia Engineering, Dongguk University-Seoul, 26 Pildong 3 Ga, Jung-gu, Seoul 100-715, Korea; E-Mails: songwei@ (S.W.); khum@ (K.U.) 2 Division of Electronics and Electrical Engineering, Dongguk University-Seoul, 26 Pildong 3 Ga, Jung-gu, Seoul 100-715, Korea; E-Mail: cswon@ 3 Agency for Defense Development, Bugyuseong daero 488 beon gi, Yoseong, Daejeon 305-152, Korea; E-Mail: sdsim@add.re.kr * Author to whom correspondence should be addressed; E-Mail: cke@; Tel.: +82-10-9070-9342; Fax: +82-2-2260-3766. Received: 16 July 2012; in revised form: 7 August 2012 / Accepted: 7 August 2012 / Published: 13 August 2012 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