Searching for Features in Laser Rangefinder Scan via Combination of Local Curvature Scale and Human Obstacles Detection

0421686 - ÚT 2014 RIV CH eng C - Konferenční příspěvek (zahraniční konf.)
Krejsa, Jiří - Věchet, Stanislav
Searching for Features in Laser Rangefinder Scan via Combination of Local Curvature Scale and Human Obstacles Detection.
Mechatronics 2013. Cham: Springer, 2013, s. 599-606. ISBN 978-3-319-02293-2.
[Mechatronics 2013 /10./. Brno (CZ), 07.10.2013-09.10.2013]
Institucionální podpora: RVO:61388998
Klíčová slova: feature extraction * obstacle detection
Kód oboru RIV: JD - Využití počítačů, robotika a její aplikace

Detection of reliable features in sensor data is the base for most localization and SLAM algorithms. The paper presents a combination of local curvature scale that enables to easily find environment features such as corners and edges in laser rangefinder scan data with human obstacles detection, used to extract such dynamic obstacles reading from the scan thus improving the robustness of feature detection.
Trvalý link: http://hdl.handle.net/11104/0229622