Publication detail

Simple Distance Line-point Algorithm for Line Extraction from 2D Laser Data

KUBÍN, T. ŠŤASTNÝ, J. RÁBOVÁ, I. ČAPEK, M.

Original Title

Simple Distance Line-point Algorithm for Line Extraction from 2D Laser Data

Type

conference paper

Language

English

Original Abstract

To get information about surrounding environment in robotics experts use laser distance sensor the most nowadays. 2D laser range finders usually provide the robot a large number of the accurate data compared to other sensors (ultrasonic, infrared). There are other useful qualities of these data as wide viewing angle, high frequency scanning or small angular resolution. These data describe the environment, where they were taken, quite well. In order to perform robotic tasks, whether essential (front obstacle stop), or complex, such as mapping and localization, or both of them simultaneously, it is necessary to process the input data appropriately. A method of processing the input data is dependent on the environment where they were acquired to some extent. Structured qualities of the data are used mainly for the data obtained indoors. Lines are searched for among other data the most often. The lines represent, for example, straight walls of a room or hallway. Other geometric shapes as circles or ellipses can be searched among the data. This paper presents a simple incremental algorithm DILIP. This algorithm is based on an analytical calculation that is suitable for embedded devices and systems with limited computing power. DILIP algorithm was tested on the data obtained through a low-cost laser rangefinder RPlidar. The data was taken in a normal office environment.

Keywords

Line extraction. 2D laser. RPlidar. Range finders.

Authors

KUBÍN, T.; ŠŤASTNÝ, J.; RÁBOVÁ, I.; ČAPEK, M.

Released

2. 5. 2016

Publisher

Wolters Kluwer

Location

Prague

ISBN

978-80-7552-249-8

Book

DIVAI 2016 ‐ 11th International Scientific Conference on Distance Learning in Applied Informatics

Pages from

551

Pages to

560

Pages count

10

URL

http://conferences.ukf.sk/index.php/divai/divai2016

BibTex

@inproceedings{BUT128490,
  author="Tomáš {Kubín} and Jiří {Šťastný} and Ivana {Rábová} and Martin {Čapek}",
  title="Simple Distance Line-point Algorithm for Line Extraction from 2D Laser Data",
  booktitle="DIVAI 2016 ‐ 11th International Scientific Conference on Distance Learning in Applied Informatics",
  year="2016",
  pages="551--560",
  publisher="Wolters Kluwer",
  address="Prague",
  isbn="978-80-7552-249-8",
  url="http://conferences.ukf.sk/index.php/divai/divai2016"
}