Iterative Registration of 3D LADAR Data for Autonomous Navigation
Rajmohan Madhavan
Intelligent Systems Division, Manufacturing Engineering Laboratory, NIST
Tuesday, June 24, 2003 15:00-16:00,
Room 145, NIST North (820)
Gaithersburg
Tuesday, June 24, 2003 13:00-14:00,
Room 4550
Boulder
Abstract:
This talk will describe an iterative algorithm for registration of 3D
LADAR data. The proposed approach is iconic in nature with suitable
modifications to deal with false/spurious matches, and outliers.
Experimental results using data obtained from field trials on an
experimental Unmanned Vehicle (XUV) will be presented to demonstrate the
efficacy of the approach. The talk will also detail ongoing research
efforts to determine the feasibility of employing the algorithm for
real-time autonomous navigation.
Speaker Bio:
Dr. Raj Madhavan received the Bachelor of Engineering degree (Electrical
and Electronics) in 1995 from the College of Engineering, Anna University,
India and the Master of Engineering (Research) degree (Control and
Robotics) in 1997 from the Australian National University, Australia. He
received his Ph.D. degree (Field Robotics) in 2001 from the University of
Sydney, Sydney, Australia.
Since 2001, he has been a research associate with the Oak Ridge National
Laboratory (ORNL) and is currently a guest researcher with the Intelligent
Systems Division of the National Institute of Standards and Technology
(NIST). His current research interests include autonomous vehicle
navigation in large and complex environments, distributed heterogeneous
sensing and systems and control theory.
Dr. Madhavan is listed in Strathmore Who's Who (2003-2004), America's
Registry of Outstanding Professionals as an Honored Member (2003-2004), and
United Who's Who (2003-2005). He is also an elected full member of the
scientific research society, Sigma Xi and the Washington Academy of
Sciences. He is the recipient of two prestigious paper contest awards (IEEE
Region 10 (Asia and the Pacific) Student Paper Competition and the Society
for Mining, Metallurgy and Exploration (SME) Outstanding Student Paper
Contest).
Contact: A. J. KearsleyNote: Visitors from outside NIST must contact
Robin Bickel; (301) 975-3668;
at least 24 hours in advance.
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