Natural Landmarks Extraction Method from Range Image for Mobile Robot

This article describes a natural landmarks detection method to use with conventional 2D laser rangefinders. The method consists of three main parts: data clustering, smoothing and segmentation. A smoothing algorithm within a scale space framework is introduced to smooth the range image. This is achi...

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Bibliographic Details
Main Authors: Xiaowei Feng, Yongyi He, Wuxin Huang, Jian Yuan
Format: Conference Proceeding
Language:English
Subjects:
Data mining
Feature extraction
Frequency
Image segmentation
Laser beam cutting
Laser modes
Mobile robots
Noise robustness
Smoothing methods
Sonar navigation
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Summary:This article describes a natural landmarks detection method to use with conventional 2D laser rangefinders. The method consists of three main parts: data clustering, smoothing and segmentation. A smoothing algorithm within a scale space framework is introduced to smooth the range image. This is achieved by repeatedly convolving the scan data with an adaptive smoothing mask calculated according to the Mahalanobis distances from a curve-based estimator, which tracks the features using UKF (unscented Kalman filter). Clustered data is segmented and characterized by the curvature of the range data. This method is robust to noise, and can reliably detect landmarks in the unstructured environment. Experimental results show that the proposed method is efficient in natural-landmark extraction.
DOI:10.1109/CISP.2009.5303473