Fast Line Detection Method using 2D Laser Scanner for a Humanoid Robot
- Fast Line Detection Method using 2D Laser Scanner for a Humanoid Robot
- 박찬수; 김도익; 유범재; 오상록
- laser scanner; line detection; humanoid robot
- Issue Date
- , 15-18
- 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.
- Appears in Collections:
- KIST Publication > Conference Paper
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