Abstract
This paper describes a system for estimating various driving environments using multiple laser measurement scanners (LMS) which are part of the obstacle estimation system on an unmanned ground vehicle (UGV). An LMS is an important and popular sensor for obstacle and terrain detection on a UGV system. The obstacle and terrain detection system is a critical system for a UGV to reach its final goal point. The obstacle and terrain detection system implemented consists of one processing unit and five laser scanners. In this paper, the UGV system configuration will be introduced and terrain estimation using fused data from all of the laser scanners will be explained.
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