Feature Extraction Method Based on 2.5-Dimensions Lidar Platform for Indoor Mobile Robots Localization
文献类型：会议论文
| 作者 | Yang, Yu; Yang, Guilin; Zheng, Tianjiang; Tian, Yingzhong; Li, Long |
| 出版日期 | 2017 |
| 会议日期 | NOV 19-21, 2017 |
| 英文摘要 | In this paper we proposed a lidar feature extraction method based on range measurement points from a novel designed 2.5-Dimensions lidar platform. For a conventional 2D laser scanner, only the planar information can be detected in once scan. In order to get more spatial information about the indoor(rectilinear) environment, a novel 2.5D lidar platform is designed by driving a 2D laser scanner up-and-down vibrating in a short distance using a voice coil motor. Then an effective feature extraction method is formulated based on the 2.5D laser point data. Compared with traditional method, these laser points are actually located in 3D environment that resulting the extracted data actually are strip-shaped which include more informations than 2D data. In our experiment, the geometrical features of space edges and surfaces can be extracted accurately, these are useful for the indoor mobile robot localization at the indoor environment. The effectiveness of this approach is validated through experiments on ROS(Robot Operating System). |
| 学科主题 | Automation & Control Systems ; Computer Science ; Engineering ; Robotics |
| ISBN号 | 978-1-5386-3135-5 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23391]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Yang, Yu,Yang, Guilin,Zheng, Tianjiang,et al. Feature Extraction Method Based on 2.5-Dimensions Lidar Platform for Indoor Mobile Robots Localization[C]. 见:. NOV 19-21, 2017. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。