NDLI: Design principles for 2D local mapping using a laser range finder

Content Provider	IEEE Xplore Digital Library
Author	Corregedor, A.R. Meyer, J. Du Plessis, F.
Copyright Year	2011
Description	Author affiliation: University of Johannesburg, South Africa (Du Plessis, F.) \|\| Department of Electrical and Electronic Engineering, University of Johannesburg, South Africa (Corregedor, A.R.) \|\| UAV Research Group, University of Johannesburg, South Africa (Meyer, J.)
Abstract	This paper presents a guide on how to obtain a local map from a SICK LMS291 laser range finder (LRF). The type of local map produced is a feature map, where the objects (or features) in the world are represented by line segments. Much research has been done on local maps and how they are created with a LRF. However, there is usually a fundamental link missing on the hardware setup (and software commands) to allow a local map to be produced in a real world situation from a SICK LMS291 LRF. A design principle is therefore produced, which consists of two main aspects. The first aspect is a hardware setup, which uses off the shelf components to allow the SICK LMS291 LRF to operate at a baud rate of 500 000 baud. At a rate of 500 000 baud the LRF is able to return the highest possible resolution scan of its environment. The second aspect are the steps to implement a line extraction algorithm, which allows one to fit line segments to offline data sets and to data points extracted from the LRF in real time.
Starting Page	1
Ending Page	6
File Size	851811
Page Count	6
File Format	PDF
ISBN	9781612849928
ISSN	21530033
e-ISBN	9781612849935
DOI	10.1109/AFRCON.2011.6072083
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-13
Publisher Place	Zambia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Lasers Robots Clustering algorithms Measurement by laser beam Linux Detectors Hardware line maps 2D laser range finder local maps mapping split-and-merge algorithm line extraction
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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