Recursive line extraction algorithm from 2d laser scanner applied to navigation a mobile robot

This paper presents a novel algorithm for line extraction from 2D laser range finder which has excellent precision to determine of line boundary, while having efficient speed and low complexity. This algorithm is more robust in measurement noise and cluttered data and fit a line to a set of uncertain points via Hough transform and recursive split formalism. In this algorithm first the data from laser is segmented to separate regions by determining start and end points throw Hough transform. After removing noisy or sparse points lines are extracted with a fast recursive split algorithm. Furthermore, it has good real-time capability to integrate the information of laser scanner into the navigation algorithm of the mobile robot and it is implemented on NAJI V rescue robot platform.