Prediction-based geometric feature extraction for 2D laser scanner |
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Authors: | Yilu Zhao Author VitaeXiong ChenAuthor Vitae |
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Affiliation: | Intelligent Control Research Lab, Department of Electronic Engineering, Fudan University, Shanghai 200433, PR China |
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Abstract: | This paper presents a novel algorithm for detecting line and circle features from 2D laser range scans. Unlike the conventional methods that use two stages for separating the features: data segmentation and feature separation in each segment, the proposed algorithm adopts a new structure and thus the computation complexity is much reduced. Moreover, it does not depend on prior knowledge of the environment, and it requires a minimum number of points per segment. We utilize prediction to achieve the above goals, so the algorithm is named prediction-based feature extraction (PFE). The efficiency and accuracy of the method is demonstrated by the experiments results. |
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Keywords: | Feature extraction Mobile robotics Line fitting Circle fitting |
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