ITLApplied  Computational Mathematics Division
ACMD Seminar Series
Attractive Image NIST

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)
Tuesday, June 24, 2003 13:00-14:00,
Room 4550

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. Kearsley

Note: Visitors from outside NIST must contact Robin Bickel; (301) 975-3668; at least 24 hours in advance.

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