Study and Improvements in Landmarks Extraction in 2D Range Images Based on an Adaptive Curvature Estimation

In this work we present an analysis of the natural reference extraction method (corners, intersections, hallways) using the estimated curvature function for 2D images provided by a laser range finder. Some of the problems from the original method introduced in 2007 are considered and possible solutions to this problems are proposed. Finally, the original and modified methods are submitted to various simulated benchmarks in order to compare their performance as a function of uncertainty, correctness, execution time and other parameters.