基于SM-MS算法的自主移动机器人红外扫描数据特征提取

2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC) Pub Date : 2015-12-01 DOI:10.1109/IAEAC.2015.7428656

Juzhong Zhang, Kui Pan, Kai Zhao

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引用次数: 1

摘要

本文提出了一种用于二维红外测距仪的特征提取系统。它包括三个数据处理模块:聚类、分段和拟合。考虑到特征提取的准确性和实时性，设计了一种最相似(MS)算法，结合分割与合并(SM)算法，提出了一种新的数据分割方法——SM-MS算法，该算法能够准确、快速地检测出直线、圆弧和角。为了验证这一概念，建立了计算机仿真和实验样机。实验结果表明，该方法可以为自主移动机器人在室内动态环境下提供高性能的特征提取方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Feature extraction from infrared scan data based on SM-MS algorithm for autonomous mobile robot

This paper presents a new feature extraction system that is to be used with a 2D infrared (IR) range finder. It consists of three data processing modules: cluster, segment and fit. Taking the accuracy and real time of feature extraction into account, a Most Similar (MS) algorithm is designed, combining the Split and Merge (SM) algorithm, a new data segment method-SM-MS algorithm is proposed, which can detect line, arc and corner accurately and quickly. In order to verify the concept, a computer simulation and an experiment prototype were built. The results proved that the new feature extraction method can provide high performance for autonomous mobile robot (AMR) in an indoor dynamic environment.

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2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)

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