Fast line, arc/circle and leg detection from laser scan data in a Player
نویسندگان
چکیده
A feature detection system has been developed for real-time identification of lines, circles and legs from laser data. A new method suitable for arc/circle detection is proposed: the Internal Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical constrains. The system was implemented as a fiducial 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.
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تاریخ انتشار 2004