Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for Mobile Robot Applications
نویسنده
چکیده
In this report some algorithms for 2D segmentation, feature detection and fitting are presented. The features discussed here consist of three geometric primitives: lines, circles and ellipses. The segmentation process, whose objective is grouping segments that belong to the same object, is analysed using several kinds of algorithms. Results are presented using real data scanned by a laser range finder (LRF) sensor.
منابع مشابه
Pose Invariant, Robust Feature Extraction From Range Data With a Modified Scale Space Approach
Feature-based Simultaneous Localization and Map building (SLAM) approaches require a robust method to extract position invariant landmarks from the surrounding environment. 2D laser range finders are currently one of the most common sensors used to obtain environmental information for mobile robot navigation due to their reliability, accuracy and low cost. However, the 2D laser scan data only g...
متن کاملA Stochastic Map Building Method for Mobile Robot using 2-D Laser Range Finder
This paper presents a stochastic map building method for mobile robot using a 2-D laser range finder. Unlike other methods that are based on a set of geometric primitives, the presented method builds a map with a set of obstacle regions. In building a map of the environment, the presented algorithm represents the obstacles with a number of stochastic obstacle regions, each of which is character...
متن کاملRobust Range Data Segmentation using Geometric Primitives for Robotic Applications
This paper presents a data-driven approach for segmenting range data to enable a humanoid robot to perform interactive domestic tasks. Range data is segmented into geometric primitives (planes, spheres, cylinders and cones), allowing the robot to recognize many simple objects. The algorithm calculates initial segments using depth discontinuities, creases and changes in surface type, with subseq...
متن کاملA preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping
Mapping is a significant issue in mobile robot applications. Mobile robots can build a map or a model of the environment using different sensors. An orchard is a suitable agricultural environment for mobile robot applications since it is a semi-structured environment, where trees are planted in nominally straight rows. This paper presents a new method to extract features from the orchard enviro...
متن کاملAutomatic Three-Dimensional Point Cloud Processing for Forest Inventory
In this paper, we propose an approach that enables automatic, fast and accurate tree trunks segmentation from three-dimensional (3-D) laser data. Results have been demonstrated in real-time on-board a ground mobile robot. In addition, we propose an approach to estimate tree diameter at breast height (dbh) that was tested off-line on a variety of ground laser scanner data. Results are also prese...
متن کامل