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- Title
Method for Corner Feature Extraction from Laser Scan Data.
- Authors
Man Zengguang; Ye Wenhua; Xiao Haining; Qian Xiaoming
- Abstract
A method is presented for extracting corner features from laser scan data for mobile robot localization. The method includes corner feature filter, corner function calculation, non-maxima suppression, and corner feature extraction and localization. First, the scan point without corner feature elements is excluded from all scan points by corner feature filter. Second, corner function is calculated to measure the extent that the remained scan points are corner features. Third, non-maxima suppression method is used to eliminate disturbance resulted from non-maxima in local area in extracting corner features. Finally, corner features are extracted by threshold method and localized. Experiment results show that the method can extract corner feature accurately from laser scan data and is robust to position parameter.
- Subjects
MOBILE robots; FEATURE extraction; LASERS; METHODOLOGY; PATTERN recognition systems
- Publication
Journal of Nanjing University of Aeronautics & Astronautics / Nanjing Hangkong Hangtian Daxue Xuebao, 2012, Vol 44, Issue 3, p379
- ISSN
1005-2615
- Publication type
Article