An implementation of typical-obstacle detection and recognition with laser range finder

Author

Qiu, Quan ; Han, Jianda

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China

Volume

2

fYear

2009

fDate

20-22 Nov. 2009

Firstpage

742

Lastpage

746

Abstract

This paper presents an implementation of detecting and recognizing typical obstacles with laser range finders. Mounting the laser range finder with a pitch angle on top of the robot, we can obtain the height information of the obstacle. Techniques, such as clustering, line segment extraction, coordinate transformation, line segment matching, are then applied on the scan data analyzing to detect and recognize the platforms and ditches. Experiments are conducted to validate our implementation.

Keywords

collision avoidance; feature extraction; image matching; image segmentation; laser ranging; object detection; pattern clustering; robot vision; clustering; coordinate transformation; height information; laser range finder; line segment extraction; line segment matching; robot; typical-obstacle detection; typical-obstacle recognition; Cameras; Data mining; Distance measurement; Frequency; Laboratories; Laser theory; Robot kinematics; Robot sensing systems; Robotics and automation; Sonar navigation; detection; laser range finder; recognition; typical-obstacle;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computing and Intelligent Systems, 2009. ICIS 2009. IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-4754-1

Electronic_ISBN

978-1-4244-4738-1

Type

conf

DOI

10.1109/ICICISYS.2009.5358285

Filename

5358285