Fast line, arc/circle and leg detection from laser scan data in a player driver

A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method sutable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method.

Bibliographic Details
Main Author: Xavier, J. (author)
Other Authors: Pacheco, M. (author), Castro, D. (author), Ruano, Antonio (author), Nunes, U. (author)
Format: conferenceObject
Language:eng
Published: 2013
Subjects:
Arc/circle detection
Leg detection
Laser feature detection
Player
Mobile robot navigation
Online Access:http://hdl.handle.net/10400.1/2310
Country:Portugal
Oai:oai:sapientia.ualg.pt:10400.1/2310
Description
Summary:A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method sutable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method.

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