NDLI: An efficient algorithm for line extraction from laser scans

Content Provider	IEEE Xplore Digital Library
Author	Alempijevic, A. Dissanayake, G.
Copyright Year	2004
Description	Author affiliation: ARC Centre of Excellence in Autonomous Syst., Univ. of Technol., Sydney, NSW, Australia (Alempijevic, A.; Dissanayake, G.)
Abstract	In this paper, an algorithm for extracting line segments from information gathered by a laser rangefinder is presented. The range scan is processed to compute a parameter that is invariant to the position and orientation of straight lines present. This parameter is then used to identify observations that potentially belong to straight lines and compute the slope of these lines. Log-Hough transform, that only explores a small region of the Hough space identified by the slopes computed, is then used to rind the equations of the lines present. The proposed method thus combines robustness of the Hough transform technique with the inherent efficiency of line fitting strategies while carrying out all computation in the sensor coordinate frame yielding a fast and robust algorithm for line extraction from laser range scans. Two practical examples are presented to demonstrate the efficacy of the algorithm and compare its performance to the traditional techniques.
Starting Page	970
Ending Page	974
File Size	751068
Page Count	5
File Format	PDF
ISBN	0780386450
DOI	10.1109/RAMECH.2004.1438050
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-01
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Data mining Navigation Transforms Equations Robustness Robot sensing systems Robot kinematics Sensor phenomena and characterization Iterative algorithms Content addressable storage
Content Type	Text
Resource Type	Article

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