Title :
Fast mapping using the log-Hough transformation
Author :
Giesler, B. ; Graf, R. ; Dillmann, R. ; Weiman, C.F.R.
Author_Institution :
Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
Abstract :
Environment mapping is a very complex procedure that requires high CPU performance. For the last few years, laser scanners have become more and more important for mobile robots. Using their data requires many transformations between different coordinate systems. This new approach deals with a mapping within the coordinate system of the scanner, therefore it is very fast. The log-Hough transformation performs line finding in scans in a very efficient way, which speeds up mapping
Keywords :
Hough transforms; edge detection; iterative methods; mobile robots; optical scanners; optical sensors; path planning; coordinate system; fast environment mapping; laser scanners; line finding; log-Hough transformation; mobile robots; Change detection algorithms; Data mining; Equations; Intellectual property; Iterative algorithms; Joining processes; Mobile robots; Navigation; Process control; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724843
