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ICRA
2006
IEEE

Polygonal Approximation of Laser Range Data based on Perceptual Grouping and EM

13 years 9 months ago
Polygonal Approximation of Laser Range Data based on Perceptual Grouping and EM
— Our goal is polygonal approximation of laser range data points obtained by a mobile robot. The proposed approach provides a precise estimation of the number of model components (line segments) and their initial parameters independent of their initial values. We use principles of perceptual grouping to evaluate the approximation quality obtained in each Expectation Maximization (EM) step. By evaluating EM approximation quality we are able to recognize a locally optimal solution, and modify the number of model components and their parameters. Consequently, EM can converge only to a globally optimal solution independent of the initial number of model components and their initial parameters.
Longin Jan Latecki, Rolf Lakämper
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Longin Jan Latecki, Rolf Lakämper
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