Circular Object Detection in Polar Coordinates for 2D LIDAR Data

摘要：

　　This paper presents a new circular object detection method based on geometric property and polynomial fitting in polar coordinates instead of implementing it in Cartesian coordinates for 2-Dimension(2D)lidar data.There are three procedures of the algorithm.Firstly,a simple and fast segmentation method is proposed.Then,according to the circle property,five robust and effective features in natural lidar coordinates for each segment are defined.Finally,these features are normalized and fed into Support Vector Machine(SVM)to detect the target circular object.Three videos containing 1330 frames data are manually labeled and used to test the performance of the proposed algorithm.The best accuracy is 99.79%and the execution time is lower than 16.93 ms.Experimental results demonstrate that circular object can be detected efficiently and accurately by the proposed method.

关键词： 2D LIDAR Circle detection Feature extraction Polar coordinates

作者: Xianen Zhou Yaonan Wang Qing Zhu Zhiqiang Miao

作者单位: College of Electrical and Information Engineering,Hunan University,Changsha 410082,China

会议类型: 国际会议

会议名称: 第七届全国模式识别学术会议(The 7th Chinese Conference on Pattern Recognition,CCPR2016)

会议地点: 成都

会议语种:英文

页码: 65-78

在线出版日期: 2016-11-03（万方平台首次上网日期，不代表论文的发表时间）