LiU Electronic Press
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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 planets in 2D LIDAR
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Article in journal (Refereed)
Language:
English
Status:
Published
In:
Journal of Automation, Mobile Robotics & Intelligent Systems(ISSN 1897-8649)(EISSN 2080-2145)
Volume:
7
Issue:
1
Pages:
35-41
Year of publ.:
2013
URI:
urn:nbn:se:liu:diva-90553
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-90553
Subject category:
Robotics
Keywords(en) :
laser scanner, SLAM, LIDAR
Abstract(en) :

Rich geometric models of the environment are needed for robots to carry out their missions. However a robot operating in 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, and that by tracking those lines frame after frame, it is possible to estimate the parameters of that plane. The method is divided in three steps: fitting line segments on the points of the 2D scan, tracking those line segments in consecutive scan and estimating the parameters with a graph based SLAM (Simultaneous Localisation And Mapping) algorithm.

Research funder:
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from:
2013-04-02
Created:
2013-04-02
Last updated:
2013-04-10
Statistics:
19 hits