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Author:
Berger, Cyrille (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
Toward rich geometric map for SLAM: Online Detection of Planes in 2D LIDAR
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the International Workshop on Perception for Mobile Robots Autonomy (PEMRA)
Conference:
International Workshop on Perception for Mobile Robots Autonomy (PEMRA)
Year of publ.:
2012
URI:
urn:nbn:se:liu:diva-84465
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-84465
Subject category:
Computer Vision and Robotics (Autonomous Systems)
Keywords(en) :
laser scanner, SLAM, LIDAR
Abstract(en) :

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.

Available from:
2012-10-15
Created:
2012-10-09
Last updated:
2013-01-09
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