Toward rich geometric map for SLAM: Online Detection of Planes in 2D LIDAR
Berger, Cyrille 2012 (English)In: Proceedings of the International Workshop on Perception for Mobile Robots Autonomy (PEMRA), 2012Conference paper (Refereed)
Rich geometric models of the environment are needed for robots to accomplish their missions. However a robot operatingin a large environment would require a compact representation.
In this article, we present a method that relies on the idea that a plane appears as a line segment in a 2D scan, andthat by tracking those lines frame after frame, it is possible to estimate the parameters of that plane. The method istherefore divided in three steps: fitting line segments on the points of the 2D scan, tracking those line segments inconsecutive scan and estimating the parameters with a graph based SLAM (Simultaneous Localisation And Mapping)algorithm.
laser scanner, SLAM, LIDAR
National CategoryComputer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-84465OAI: oai:DiVA.org:liu-84465DiVA: diva2:559417
International Workshop on Perception for Mobile Robots Autonomy (PEMRA)