Fast Line Detection Method using 2D Laser Scanner for a Humanoid Robot

Title
Fast Line Detection Method using 2D Laser Scanner for a Humanoid Robot
Authors
박찬수김도익유범재오상록
Keywords
laser scanner; line detection; humanoid robot
Issue Date
2010-11
Publisher
URAI
Citation
, 15-18
Abstract
This paper proposes the fast line detection method with a 2D laser scanner in an indoor environment for a humanoid robot. To detect the shape and dimension of some objects around a sensor, it is assumed that the laser scan data can be divided into some lines. The laser scan data is approximated to some lines by the line detection method proposed in this paper. The performance of the line detection method is also discussed to verify the effectiveness of the computation time and estimation error rather than the previous research. The experimental result shows that the proposed method is useful to detect the line from the indoor environment.
URI
http://pubs.kist.re.kr/handle/201004/38918
Appears in Collections:
KIST Publication > Conference Paper
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