An Implementation of Typical-Obstacle Detection and Recognition with Laser Range Finder

摘要：

This paper presents an implementation of detecting and recognizing typical obstacles with laser range finders. Mounting the laser range finder with a pitch angle on top of the robot, we can obtain the height information of the obstacle. Techniques, such as clustering, line segment extraction, coordinate transformation, line segment matching, are then applied on the scan data analyzing to detect and recognize the platforms and ditches. Experiments are conducted to validate our implementation.

关键词： typical-obstacle detection recognition laser range finder

作者: Quan Qiu Jianda Han

作者单位: State Key Laboratory of Robotics Shenyang Institute of Automation,Chinese Academy of Sciences Shenya State Key Laboratory of Robotics Shenyang Institute of Automation,Chinese Academy of Sciences Shenya

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems(2009 IEEE 智能计算与智能系统国际会议)

会议地点: 上海

会议语种:英文

页码: 1645-1649

在线出版日期: 2009-11-20（万方平台首次上网日期，不代表论文的发表时间）