CLASSIFICATION OF ENVIRONMENT ELEMENTS

摘要

The presently disclosed subject matter includes, inter alia, a method and a system which enables to classify information of a scanned outdoor or indoor environment to different types of environment elements. The identification of environment element types enables to improve detection of obstacles in an environment. The improved detection of obstacles can assist in motion planning to enable to advance quickly and safely through the environment.

主权项

1. A method of classifying environment elements detected in a given environment to respective environment element types, the method comprising:
with the help of a processor performing at least the following operations: obtaining information with respect to a plurality of scanned points in the given environment; the information comprising respective coordinates of each point relative to a fixed reference frame; identifying edges and non-edges from among the plurality of scanned points; wherein a given scanned point is identified as an edge based on a difference between height of the given scanned point and height of adjacent scanned points; dividing the plurality scanned points into one or more clusters of scanned points; and classifying all scanned points in a given cluster as vegetation point candidates, if a portion of the identified edges from among the scanned points in the given cluster is greater than a given threshold value.