Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
In: Proceedings of SPIE, Mobile Robotics XII, Vol. 3210, 1997. Feature Extraction and Scene Interpretation for
 

Summary: In: Proceedings of SPIE, Mobile Robotics XII, Vol. 3210, 1997.
Feature Extraction and Scene Interpretation for
Map-Based Navigation and Map Building
Kai Oliver Arras, Roland Y. Siegwart
Swiss Federal Institute of Technology Lausanne
Institute of Microengineering
CH­1015 Lausanne, Switzerland
{arras, siegwart}@imt.dmt.epfl.ch
ABSTRACT
A scheme for extracting environment features from 1D range data and their interpretation is presented. Segmentation is done
by deciding on a measure of model fidelity which is applied to adjacent groups of measurements. The extraction process is con-
sidered to include a subsequent matching step where segments which belong to the same landmark are to be merged while keep-
ing track of those which originate from distinct features. This is done by an agglomerative hierarchical clustering algorithm with
a Mahalanobis distance matrix. The method is discussed with straight line segments which are found in a generalized least
squares sense using polar coordinates including their first-order covariance estimates. As a consequence, extraction is no longer
a real time problem on the level of single range readings, but must be treated on the level of whole scans. Experimental results
with three commercially available laser scanners are presented. The implementation on a mobile robot which performs a map-
based localization demonstrate the accuracy and applicability of the method under real time conditions.
The collection of line segments and associated covariance matrices obtained from the extraction process contains more
information about the scene than is required for map-based localization. In a subsequent reasoning step this information is made

  

Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences