Fast line, arc/circle and leg detection from laser scan data in a player driver

Xavier, J.; Pacheco, M.; Castro, D.; Ruano, Antonio; Nunes, U.

http://hdl.handle.net/10400.1/2310

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Abstract(s)

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.

Keywords

Arc/circle detection Leg detection Laser feature detection Player Mobile robot navigation

URI

http://hdl.handle.net/10400.1/2310

Citation

Xavier, J.; Pacheco, M.; Castro, D.; Ruano, A.; Nunes, U. Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver, Trabalho apresentado em 2005 IEEE International Conference on Robotics and Automation, In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005.