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Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver

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5 Author(s)
J. Xavier ; Institute of Systems and Robotics - ISR, University of Coimbra, Portugal; smrogzer@grnail.com ; M. Pacheco ; D. Castro ; A. Ruano
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A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method suitable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical relations. The system was implemented as a plugin driver in Player, a mobile robot server. Real results are presented to verify the effectiveness of the proposed algorithms in indoor environment with moving objects.

Published in:

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Date of Conference:

18-22 April 2005