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10

RAS
2000

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Feature extraction and tracking for scanning range sensors

13 years 4 months ago

Feature extraction and tracking for scanning range sensors

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A solution to the problem of simultaneously extracting and tracking a piecewise-linear range representation of a mobile robot's local environment is presented. The classical framework of the extended Kalman filter fits this problem extremely well and the algorithm presented is immune to vehicle motion and active sensor reorientation during the finite capture time of the range scan. The paper also tackles the problems of fast, non-iterative, initialisation of feature tracks, and feature track management over multiple scans.

Nick E. Pears

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Active Sensor Reorientation | Extended Kalman Filter | Piecewise-linear Range Representation | RAS 2000 |

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Added	19 Dec 2010
Updated	19 Dec 2010
Type	Journal
Year	2000
Where	RAS
Authors	Nick E. Pears

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