Browsing by Author "Nunes, U."
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- Fast line, arc/circle and leg detection from laser scan data in a player driverPublication . Xavier, J.; Pacheco, M.; Castro, D.; Ruano, Antonio; Nunes, U.A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method sutable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method.
- Feature extraction for moving objects tracking system in indoor environmentsPublication . Castro, D.; Nunes, U.; Ruano, AntonioIn this paper a feature extraction and classification methodology for a laser based detection and tracking of moving objects (DATMO) system in indoors environments is presented. The sensory perception is based in a SICK Laser Measurement System (LMS). An adaptation of the Hough Transform is used in the feature extraction procedure to interpret scanned segments, as primitive features, defined by geometric evidence (points, lines, circles and blobs), and high-level features, generally referred to as landmarks (corners, columns, doors, etc.). The classification system uses features data, some heuristic rules, and data from a Kalman filter based tracking system to classify multiple objects. Real and simulated results are presented to verify the effectiveness of the proposed DATMO system in unknown environments with multiple moving objects.
- Obstacle avoidance in local navigationPublication . Castro, D.; Nunes, U.; Ruano, AntonioA reactive navigation system for an autonomous non-holonomic mobile robot in dynamic environments is presented. A new object detection algorithm and a new reactive collision avoidance method are presented. The sensory perception is based in a laser range finder (LRF) system. Simulation results are presented to verify the effectiveness of the proposed local navigational system in unknown environments with multiple moving objects.
- Reactive local navigationPublication . Castro, D.; Nunes, U.; Ruano, AntonioIn this paper a reactive local navigation system is presented, for an autonomous non-holonomic mobile robot navigating in dynamic environments. The reactive navigation system integrates a obstacle detection method [3] and a new reactive collision avoidance method. The sensory perception is based in a laser range finder (LRF) system. Simulation results are presented to verify the effectiveness of the proposed local navigation system in unknown environments with multiple moving objects. The comparison of results are shown, between two different approaches, a Velocity Obstacle (VO) approach and our own, based in the Dynamic Window (DW) concept.