Line Extraction in 2D Range Images for Mobile Robotics

Borges, Geovany A.; Aldon, Marie-José

doi:10.1023/b:jint.0000038945.55712.65

Cited by 256 publications

(186 citation statements)

References 25 publications

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“…Here we use line segment feature extraction method to process the LADAR data instead of traditional methods which generally change the LADAR data into a histogram. The existing mature line feature extraction methods include Line Tracking (LT) algorithm , Iterative End Point Fit (IEPF) algorithm and Prototype based Fussy Clustering(PFC) algorithm, etc., see [6]. Our method is based on IEPF, because LADAR data can be processed at a high speed by IEPF.…”

Section: Ladar Data Processing For Viability Controlmentioning

confidence: 99%

See 1 more Smart Citation

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Liu

Gao

2016

Automatika

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Original scientific paperThe navigation efficiency of wheeled robots needs to be further improved. Although related research has proposed various approaches, most of them describe the relationship between the robot and the obstacle roughly. Viability theory concerns the dynamic adaptation of evolutionary systems to the environment. Based on viability, we explore a method that involves robot dynamic model, environmental constraints and navigation control. The method can raise the efficiency of the navigation. We treat the environment as line segments to reduce the computational difficulty for building the viability condition constraints. Although there exists lots of control values which can be used to drive the robot safely to the goal, it is necessary to build an optimization model to select a more efficient control value for the navigation. Our simulation shows that viability theory can precisely describe the link between robotic dynamics and the obstacle, and thus can help the robot to achieve radical high speed navigation in an unknown environment.Key words: Wheeled robot, Navigation, Obstacle avoidance, ViabilityOptimizacija upravljanja brzinom mobilnog robota s izbjegavanjem prepreka zasnovana na teoriji vijabilnosti. Postoji potreba za unaprije enjem učinkovitosti navigacije mobilnih robota. Iako su vezana istraži-vanja predložila različite pristupe, većina ne opisuje precizno odnos izme u robota i prepreke. Teorija vijabilnosti istražuje dinamičke adaptacije evolucijskih sustava njihovoj okolini. Učlanku istražujemo metodu koja može povećati učinkovitost navigacije, zasnovanu na vijabilnosti koja uključuje dinamički model robota, ograničenja okoline robota i samu navigaciju. Radna okolina predstavljena je ravnim crtama kako bi se smanjila računska složenost izgradnje ograničenja. Iako postoji veliki broj iznosa upravljačkih veličina koje bi sigurno uputile robota prema cilju, potrebno je izraditi optimizacijski model koji bi odabrao učinkovitiju upravljačku vrijednost za navigaciju. Izvedene simulacije pokazuju da teorija vijabilnosti može precizno opisati vezu izme u prepreke i dinamike robota te na taj način pomoći robotu da postigne radikalno veće brzine pri navigaciji u nepoznatim prostorima.

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Section: Ladar Data Processing For Viability Controlmentioning

confidence: 99%

“…Let the scan depth value of two consecutive points i,(i − 1) be ρ i , ρ i−1 . If the difference between the two values is greater than an adaptive threshold, these two consecutive scan points are a pair of breakpoints, see [6]. This processing is shown in algorithm 1.…”

Section: Breakpoints Detectionmentioning

confidence: 99%

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Liu

Gao

2016

Automatika

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“…The iterative end point fit (IEPF) algorithm [17] is used to extract lines from raw sensor data Z 0 . If both of the two adjacent lines are long enough, a corner g j (unknown data association results) is extracted.…”

Section: ) Feature Extractionmentioning

confidence: 99%

“…Two indexes are adopted to represent the incompatibility. They are the shadowed area R u (17) and shadowed angle α u : (18) where * u1 and * u2 are calculated by treating currently observation Z 0 and saved history observation z s i .Z l as exploring free area of the environment respectively.…”

Section: A Feature Calibrationmentioning

confidence: 99%

Data association for a hybrid metric map representation

Guo

Wang

et al. 2012

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

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Abstract-This paper presents an approach to solve the data association problem for a hybrid metric map representation. The hybrid metric map representation uses Voronoi diagram to partition the global map space into a series of local subregions, and then a local dense map is built in each subregion. Finally the global feature map and the local maps make up of the hybrid metric map, which can represent all the observed environment. In the proposed map representation, there exists an important property that global feature map and local maps have clear one-to-one correspondence. Benefited from this property, an identifying rule of the data association based on compatibility testing is proposed. The identifying rule can efficiently reject the wrong data association hypothesis in the application of dense environment. Two experiments validated the efficiency of data association approach and also demonstrated the feasibility of the hybrid metric map presentation.

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“…Borges and Aldon investigate two breakpoint detectors, Adaptive Breakpoint Detector and Kalman Filter Based Breakpoint Detector in another work [6]. They also compare success of three line extraction methods; Line Tracking, Iterative End Point Fit, and Split-and-Merge Fuzzy.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous localization and mapping with limited sensing using Extended Kalman Filter and Hough transform

Özışık

Yavuz

2016

Teh. vjesn.

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Original scientific paper The problem of a robot to create a map of an unknown environment while correcting its own position based on the same map and sensor data is called Simultaneous Localization and Mapping problem. As the accuracy and precision of the sensors have an important role in this problem, most of the proposed systems include the usage of high cost laser range sensors, and relatively newer and cheaper RGB-D cameras. Laser range sensors are too expensive for some implementations, and RGB-D cameras bring high power, CPU or communication requirements to process data on-board or on a PC. In order to build a low-cost robot it is more appropriate to use low-cost sensors (like infrared and sonar). In this study it is aimed to create a map of an unknown environment using a low cost robot, Extended Kalman Filter and linear features like walls and furniture. A loop closing approach is also proposed here. Experiments are performed in Webots simulation environment. Keywords: Extended Kalman Filter; Hough transform; limited sensing; loop closing; SLAM Simultano lokaliziranje i kartiranje s ograničenom indikacijom odstupanja uz primjenu produljenog Kalman filtra i Hough transformacijeIzvorni znanstveni članak Problem robota da izradi kartu nepoznatog okruženja uz ispravljanje vlastitog položaja na temelju iste karte i podataka senzora naziva se problem simultanog lokaliziranja i kartiranja (mapiranja). Budući da je točnost i preciznost senzora od velike važnosti u rješavanju tog problema, većina predloženih sustava uključuje primjenu skupih laserskih senzora daljine te relativno novije i jeftinije RGB-D kamere. Laserski senzori daljine su preskupi za neke primjene, a RGB-D kamere imaju veliku snagu, CPU ili sve što je potrebno za obradu podataka direktno ili na PC-u. Za izradu jeftinog robota bolje je primijeniti senzore niske cijene (poput infracrvenih ili sonarnih). Cilj je ovoga rada izraditi kartu nepoznatog okruženja uz primjenu jeftinog robota, produljenog Kalman filtra i linearnih obilježja, kao što su zidovi i namještaj. Ovdje se također predlaže pristup zatvaranja petlje. Eksperimenti su provedeni u okruženju Webots simulacije.

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Line Extraction in 2D Range Images for Mobile Robotics

Cited by 256 publications

References 25 publications

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Data association for a hybrid metric map representation

Simultaneous localization and mapping with limited sensing using Extended Kalman Filter and Hough transform

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