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Auflistung nach Autor:in "Kuhnert, Klaus-Dieter"

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  • Zeitschriftenartikel
    Off-road Robotics—An Overview
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten; Kuhnert, Klaus-Dieter; Armbrust, Christopher
    This article gives an overview of the current state of research in the field of off-road robotics. It focuses on techniques used in the areas of perception, environment representation, as well as navigation, and introduces different types of robot control systems. A presentation of different applications is given along with an outlook on future developments.
  • Zeitschriftenartikel
    Sensor-Fusion Based Real-Time 3D Outdoor Scene Reconstruction and Analysis on a Moving Mobile Outdoor Robot
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Kuhnert, Lars; Kuhnert, Klaus-Dieter
    This article presents an overview over the whole process of generating a precise and rich 3D representation of the local environment of a moving mobile outdoor robot. The resulting model of this process is a camera image textured triangle mesh which is triangulated from a motion-corrected laser scanned 3D point cloud. The demanding requirements of autonomous off-road environment model acquisition are handled by applying a multi-sensor fusion approach. Additionally to the model creation process a novel way of detecting and describing feature points on a piece-wise linear 3D surfaces is presented. The set of feature points generated by the proposed method is a valuable abstraction of a whole outdoor scene that can be used in several following processing steps like mesh simplification or segmentation and robotics-specific tasks like obstacle detection or classification. All described methods are implemented and successfully used on the award-winning robot AMOR.