Analytical Formalism for Data Representation and Object Detection with 2D LiDAR: Application in Mobile Robotics

In mobile robotics, LASER scanners have a wide spectrum of indoor and outdoor applications, both in structured and unstructured environments, due to their accuracy and precision. Most works that use this sensor have their own data representation and their own case-specific modeling strategies, and n...

Full description

Saved in:
Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2024-04, Vol.24 (7), p.2284
Main Authors: Fagundes, Jr, Leonardo A, Caldeira, Alexandre G, Quemelli, Matheus B, Martins, Felipe N, Brandão, Alexandre S
Format: Article
Language:English
Subjects:
Algorithms
LASER scanner
Lasers
LiDAR
Localization
Measuring instruments
mobile robotics
object detection
object localization
Optical radar
Remote sensing
Robotics
Robots
Scanners
Scanning devices
Sensors
Technology application
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In mobile robotics, LASER scanners have a wide spectrum of indoor and outdoor applications, both in structured and unstructured environments, due to their accuracy and precision. Most works that use this sensor have their own data representation and their own case-specific modeling strategies, and no common formalism is adopted. To address this issue, this manuscript presents an analytical approach for the identification and localization of objects using 2D LiDARs. Our main contribution lies in formally defining LASER sensor measurements and their representation, the identification of objects, their main properties, and their location in a scene. We validate our proposal with experiments in generic semi-structured environments common in autonomous navigation, and we demonstrate its feasibility in multiple object detection and identification, strictly following its analytical representation. Finally, our proposal further encourages and facilitates the design, modeling, and implementation of other applications that use LASER scanners as a distance sensor.
ISSN:1424-8220
1424-8220
DOI:10.3390/s24072284