快速线，弧/圆和腿检测从激光扫描数据在播放器驱动程序

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570721

J. Xavier, M. Pacheco, D. Castro, A. Ruano, U. Nunes

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引用次数: 218

摘要

为了从激光测距数据中实时识别线条、圆圈和人腿，开发了一种特征检测系统。提出了一种适用于圆弧/圆检测的新方法:内切角方差(IAV)。使用递归线拟合方法检测线。人体腿的检测是基于几何关系的。该系统以插件驱动的形式在移动机器人服务器Player中实现。实验结果验证了该算法在室内运动物体环境下的有效性。

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Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver

A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method suitable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical relations. The system was implemented as a plugin driver in Player, a mobile robot server. Real results are presented to verify the effectiveness of the proposed algorithms in indoor environment with moving objects.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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