Title :
Fast laser — based corridor detection for indoor mobile robots
Author :
Lijun Zhao ; Zhaofeng Liu ; Guanglei Huo ; Ke Wang ; Ruifeng Li
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
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.
Keywords :
image segmentation; median filters; mobile robots; object detection; object recognition; robot vision; stability; support vector machines; SVM; corridor recognition algorithm; indoor mobile robot; laser scanner; laser-based corridor detection; median filter; segmentation method; stability problem; Floors; Indoor environments; Laser noise; Mobile robots; Support vector machines; Training;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090438
