liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Toward rich geometric map for SLAM: Online Detection of Planes in 2D LIDAR
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.ORCID iD: 0000-0003-3011-1505
2012 (English)In: Proceedings of the International Workshop on Perception for Mobile Robots Autonomy (PEMRA), 2012Conference paper (Refereed)
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.

Place, publisher, year, edition, pages
Keyword [en]
laser scanner, SLAM, LIDAR
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:liu:diva-84465OAI: diva2:559417
International Workshop on Perception for Mobile Robots Autonomy (PEMRA)
Available from: 2012-10-15 Created: 2012-10-09 Last updated: 2016-09-19Bibliographically approved

Open Access in DiVA

article(2909 kB)711 downloads
File information
File name FULLTEXT01.pdfFile size 2909 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Berger, Cyrille
By organisation
KPLAB - Knowledge Processing LabThe Institute of Technology
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar
Total: 711 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 230 hits
ReferencesLink to record
Permanent link

Direct link