NDLI: Map building of non-structural environmental characteristics based on dynamic model-hierarchical clustering algorithm

Content Provider	IEEE Xplore Digital Library
Author	Peng Jia Wang Meiling Zhang Yi Wang Xinyu
Copyright Year	2013
Description	Author affiliation: Autom. Sch., Beijing Inst. of Technol., Beijing, China (Peng Jia; Wang Meiling; Zhang Yi; Wang Xinyu)
Abstract	Unmanned Ground Platform (UGP) is a fundamental part of future transportation and military system. However, it still faces lots of difficulties in obtaining a real-time and precise understanding on non-structured natural environment. In this paper, to assist UGP for a better perception of non-structured natural environment, we propose a dynamical clustering algorithm based on model-hierarchy to construct the real map from non-structured environment features. The proposed algorithm first classifies data points based on a simplified model of environment features. Then, various features are extracted for each class. Finally, a dynamic hierarchical clustering algorithm is utilized where an evaluation metric is introduced to control the cluster number automatically. The proposed algorithm can not only eliminate the influences brought by 3D laser point cloud, but also retain the advantages of classic CURE algorithm that can recognize non-balled area. Moreover, this algorithm is self-adaptive to irregular terrace features and independent of settings for initial number of clusters. In the experimental section, the algorithm is tested on the point cloud data obtained from 3D laser radar. The result demonstrates the effectiveness and feasibility of the algorithm.
Starting Page	6039
Ending Page	6044
File Size	555096
Page Count	6
File Format	PDF
ISBN	9789881563835
ISSN	19341768
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Clustering evaluation function Three-dimensional displays Laser radar Non-Structural Environmental Feature Heuristic algorithms Clustering algorithms Feature extraction Laser modes Mapping Electronic mail Dynamic Model-Hierarchical Clustering Algorithm UGP
Content Type	Text
Resource Type	Article

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