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Real-time edge detection of obstacles in range image by automatically thresholding the normalized range difference

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3 Author(s)
Zhang Qi ; Post & Telecommun. Project Inst. of Zhejiang Province, Hangzhou, China ; Gu Weikang ; Ye Xiuqing

This paper presents a new method for rapidly detecting obstacles in a spherical coordinate system using range images sensed by a Laser Imaging Range Sensor (LIRS). The algorithm that adaptively thresholds the normalized range differences is shown to give rapid and robust results for edge detection of obstacles in real outdoor range images, and is useful for obstacle detection in a mobile robot

Published in:

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on  (Volume:2 )

Date of Conference:

28-31 Oct 1997