LIDAR-based Door and Stair Detection from a Mobile Robot

被引：2

作者：

Bansal, Mayank ^{[1
]}

Southall, Ben ^{[1
]}

Matei, Bogdan ^{[1
]}

Eledath, Jayan ^{[1
]}

Sawhney, Harpreet ^{[1
]}

机构：

[1] Sarnoff Corp, Vis Technol, Princeton, NJ 08540 USA

来源：

UNMANNED SYSTEMS TECHNOLOGY XII | 2010年 / 7692卷

关键词：

Object detection; LIDAR; doors; stairs; robot; streaming;

D O I：

10.1117/12.849926

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

引用

页数：8

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