Fast Laser - based Corridor Detection for Indoor Mobile Robots

被引：0
|
作者：
Zhao, Lijun [1 ]
Liu, Zhaofeng [1 ]
Huo, Guanglei [1 ]
Wang, Ke [1 ]
Li, Ruifeng [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Peoples R China
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Considering stability problems of the current corridor recognition algorithm based on laser scanner, this paper proposes a method for mobile robot fast laser-based corridor recognition. Firstly, Median filter is used to deal with the laser scan to reduce the noise. Then, it employs segmentation method to cluster the data to remove some isolated points. After that, it is feasible to calculate the direction between the two neighboring points. This paper measures the angle every 10 degrees. At last, a SVM is designed and applied to recognize corridor in indoor environment.
引用
收藏
页码：849 / 854
页数：6
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