Senekal, F2013-11-062013-11-062013-09Senekal, F. 2013. Traversability analysis for a mine safety inspection robot. In: IEEE AFRICON 2013, Mauritius, 9-12 September 2013http://hdl.handle.net/10204/7031IEEE AFRICON 2013, Mauritius, 9-12 September 2013. Abstract only attachedA 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.enMine safety inspection robotTraversability analysisThree-dimensional point cloudsRoboticsConference PresentationSenekal, F. (2013). Traversability analysis for a mine safety inspection robot. http://hdl.handle.net/10204/7031Senekal, F. "Traversability analysis for a mine safety inspection robot." (2013): http://hdl.handle.net/10204/7031Senekal F, Traversability analysis for a mine safety inspection robot; 2013. http://hdl.handle.net/10204/7031 .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 -