Fast laser — based corridor detection for indoor mobile robots

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.