Title :
Feature extraction from 2D laser range data for indoor navigation of aerial robot
Author :
Xiang He ; Zhihao Cai
Author_Institution :
Nat. Key Lab. of Sci. & Technol., Beihang Univ., Beijing, China
Abstract :
In this paper several algorithms of segmentation are presented and a fast and information-lossless method of segmentation and feature extraction is discussed. Different methods are compared using the real data collected from the 2D laser range finder in the laboratory. The feature extraction here uses only line segments to express the environment. A 3D map is generated, simulating the flight of aerial robot.
Keywords :
aerospace robotics; aerospace simulation; feature extraction; image segmentation; laser ranging; path planning; robot vision; 2D laser range data; 2D laser range finder; 3D map; aerial robot; feature extraction; flight simulation; indoor navigation; information-lossless method; line segments; segmentation method; Feature extraction; Laser theory; Navigation; Simultaneous localization and mapping; Three-dimensional displays; feature extraction; indoor; laser; navigation; segmentation;
Conference_Titel :
Chinese Automation Congress (CAC), 2013
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-0332-0
DOI :
10.1109/CAC.2013.6775748
