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This paper addresses the problem of vegetation detection from laser measurements. The ability to detect vegetation is important for robots operating outdoors, since it enables a robot to navigate more efficiently and safely in such environments. In this paper, we propose a novel approach for detecting low, grass-like vegetation using laser remission values. In our algorithm, the laser remission is modeled as a function of distance, incidence angle, and material. We classify surface terraindoi:10.1109/iros.2009.5354530 dblp:conf/iros/WurmKSB09 fatcat:i2d7y46nhbc7jfqme4e5ykfbja