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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Resumo(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.

Palavras-chave

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

URI

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

Citação

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.

Editora

IEEE

DOI

http://dx.doi.org/10.1109/ROBOT.2005.1570721

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FCT2-Artigos (em revistas ou actas indexadas)

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