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Automatic feature extraction in laser rangefinder data using geometric invariance

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3 Author(s)
Noyer, J.C. ; LISIC, Univ. Lille Nord-de-France, Calais, France ; Lherbier, R. ; Fortin, B.

This paper presents a feature extraction method in scanning laser rangefinder data. Whereas many popular methods use Cartesian coordinates to detect features, the proposed method use a geometric invariant in natural (polar) coordinates. It leads to a membership condition that only depends on the sensor properties (angular resolution and range measurement error).

Published in:

Signals, Systems and Computers (ASILOMAR), 2010 Conference Record of the Forty Fourth Asilomar Conference on

Date of Conference:

7-10 Nov. 2010