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Searching for Features in Laser Rangefinder Scan via Combination of Local Curvature Scale and Human Obstacles Detection
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SYSNO ASEP 0421686 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Searching for Features in Laser Rangefinder Scan via Combination of Local Curvature Scale and Human Obstacles Detection Author(s) Krejsa, Jiří (UT-L) RID, ORCID
Věchet, Stanislav (UT-L) RID, ORCIDSource Title Mechatronics 2013. - Cham : Springer, 2013 - ISBN 978-3-319-02293-2 Pages s. 599-606 Number of pages 8 s. Publication form Print - P Action Mechatronics 2013 /10./ Event date 07.10.2013-09.10.2013 VEvent location Brno Country CZ - Czech Republic Event type WRD Language eng - English Country CH - Switzerland Keywords feature extraction ; obstacle detection Subject RIV JD - Computer Applications, Robotics Institutional support UT-L - RVO:61388998 UT WOS 000345341700076 EID SCOPUS 84903767070 DOI 10.1007/978-3-319-02294-9_76 Annotation 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. Workplace Institute of Thermomechanics Contact Marie Kajprová, kajprova@it.cas.cz, Tel.: 266 053 154 ; Jana Lahovská, jaja@it.cas.cz, Tel.: 266 053 823 Year of Publishing 2014
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