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A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics | IEEE Conference Publication | IEEE Xplore

A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics


Abstract:

This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics...Show More

Abstract:

This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real data scans collected in an office environment with a map size of 80m /spl times/ 50m. Several comparison criteria are proposed and discussed to highlight the advantages and drawbacks of each algorithm, including speed, complexity, correctness and precision. The results of the algorithms are compared with the ground truth using standard statistical methods.
Date of Conference: 02-06 August 2005
Date Added to IEEE Xplore: 05 December 2005
Print ISBN:0-7803-8912-3

ISSN Information:

Conference Location: Edmonton, AB, Canada

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