Laser based intersection detection for reactive navigation in an underground mine

— In this paper we propose a new feature detection algorithm to enable junction recognition intended for high speed reactive navigation in tunnel like environments. We also present an extensive experimental evaluation of the algorithm based on data recorded in a real mine. The algorithm is faster and has less environmental constraints than similar algorithms that can be found in the litterature.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Johan Larsson, Mathias Broxvall, Alessandro Saffiotti
• Keywords: Algorithms, Feature Detection Algorithm, IROS 2008, Robotics, Speed Reactive Navigation