NDLI: SEGMENTS: a layered, dual-Kalman filter algorithm for indoor feature extraction

Content Provider	IEEE Xplore Digital Library
Author	Roumeliotis, S.I. Bekey, G.A.
Copyright Year	2000
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Southern California, Los Angeles, CA, USA (Roumeliotis, S.I.)
Abstract	A layered algorithm for extracting features in an indoor environment from planar range data is presented. At the lower (signal processing) level, the SEGMENTS algorithm exploits the speed and accuracy of two extended Kalman filters working in tandem and processes sequentially the distance measurements within each scan. The first Kalman filter is responsible for initiating straight line segments and detecting clutter while the second estimates the parameters of each line segment (such as distance and orientation) and determines when this is interrupted. The dual filter combination is capable of detecting edges and straight line segments within the scene in front of the robot. At the higher (post-processing) level, the identified segments are combined to form more complex features such as extended walls, corners (concave and convex), doors and corridors. During the composition cycle, SEGMENTS makes use of (i) the parametric representation of the straight line segments and (ii) the prespecific topological models of the features this algorithm seeks. A list of the identified features along with their location with respect to the laser sensor is finally available to the user. The cluttered regions in the scene are also marked on a polar representation of the environment. The presented algorithm has been tested on a Pioneer 2 DX mobile robot equipped with a SICK LMS 200 proximity laser scanner performing map-based localization. Low computational requirements, accuracy and robustness to uncertainty and noise characterize the performance of this new method for feature extraction.
Starting Page	454
Ending Page	461
File Size	726937
Page Count	8
File Format	PDF
ISBN	0780363485
DOI	10.1109/IROS.2000.894646
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-10-31
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filters Signal processing algorithms Feature extraction Layout Data mining Indoor environments Distance measurement Parameter estimation Robots Laser modes
Content Type	Text
Resource Type	Article

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
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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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