A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics

Author

Nguyen, Viet ; Martinelli, Agostino ; Tomatis, Nicola ; Siegwart, Roland

Author_Institution

Autonomous Syst. Lab., Ecole Polytechnique Fed. de Lausanne, Switzerland

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

1929

Lastpage

1934

Abstract

This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real data scans collected in an office environment with a map size of 80m × 50m. Several comparison criteria are proposed and discussed to highlight the advantages and drawbacks of each algorithm, including speed, complexity, correctness and precision. The results of the algorithms are compared with the ground truth using standard statistical methods.

Keywords

feature extraction; laser ranging; mobile robots; optical scanners; robot vision; statistical analysis; 50 m; 80 m; computer vision; indoor mobile robotics; laser rangefinder; laser scan; line extraction; statistical method; Computer vision; Data mining; Feature extraction; Indoor environments; Infrared sensors; Mobile robots; Robot localization; Robot sensing systems; Robot vision systems; Sonar navigation; 2D Laser Rangefinder; Line Extraction; Mobile Robotics; Vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545234

Filename

1545234