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ICRA
2005
IEEE

Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver

9 years 3 months ago
Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver
— A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method suitable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical relations. The system was implemented as a plugin driver in Player, a mobile robot server. Real results are presented to verify the effectiveness of the proposed algorithms in indoor environment with moving objects.
João Xavier, Marco Pacheco, Daniel Castro,
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors João Xavier, Marco Pacheco, Daniel Castro, António E. B. Ruano, Urbano Nunes
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