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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.
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.

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: 2013-01-09Bibliographically approved

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Berger, Cyrille
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KPLAB - Knowledge Processing LabThe Institute of Technology
Computer Vision and Robotics (Autonomous Systems)

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