Feature-to-Feature based Laser Scan Matching for Pallet Recognition

摘要：

The pallet recognition method based on feature-to feature laser scan matching is proposed. The laser scan data are clustered into one line segment if they belong to one object or adjacent objects; then the corner points are found in the line segments; therefore, the environment can be expressed by the line segments. The environment line segments are compared with the pallet model to recognize the pallet. The recognition ratio and velocity of the feature-to-feature based method high and fast. On our robot which configured Pentium Ⅲ 400MHz,512M RAM, the static recognition ratio can reach 100％; when the robot moves, the recognition ratio can reach 98％; the recognition velocity is 100 frames per second.

关键词： Pallet Recognition Feature-to-Feature Laser Scan Matching Autonomous Mobile Robot

作者: He Zhendong Wan Xinjin Liu Jie Sun Junman Cui Guangzhao

作者单位: College of Electric & Information Engineering College of Mechanical and Electrical Engineering ZZULI, Zhengzhou, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 1385-1388

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）