Structure Tensors for General Purpose LIDAR Feature Extraction

摘要：

The detection of features from Light Detection and Ranging (LIDAR) data is a fundamental component of featurebased mapping and SLAM systems. Classical approaches are often tied to specific environments, computationally expensive, or do not extract precise features. We describe a general purpose feature detector that is not only efficient, but also applicable to virtually any environment. Our method shares its mathematical foundation with feature detectors from the computer vision community, where structure tensor based methods have been successful. Our resulting method is capable of identifying stable and repeatable features at a variety of spatial scales, and produces uncertainty estimates for use in a state estimation algorithm. We verify the proposed method on standard datasets, including the Victoria Park dataset and the Intel Research Center dataset.

关键词： Robot navigation SLAM LIDARs Feature detection Corner Detector

作者: Yangming Li Edwin B. Olson

作者单位: Institute of Intelligence Machines,Chinese Academy of Sciences,Hefei,Anhui,230031 Department of Elec Department of Electrical Engineering and Computer Science,University of Michigan,Ann Arbor,MI 48109

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1869-1874

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）