An efficient algorithm for line extraction from laser scans

Alempijevic, A; Dissanayake, G

An efficient algorithm for line extraction from laser scans

Alempijevic, A

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2004 IEEE Conference on Robotics, Automation and Mechatronics, 2004, pp. 970 - 974
Issue Date:: 2004-12-01

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Field	Value	Language
dc.contributor.author	Alempijevic, A https://orcid.org/0000-0002-1769-8041	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2004-12-01	en_US
dc.identifier.citation	2004 IEEE Conference on Robotics, Automation and Mechatronics, 2004, pp. 970 - 974	en_US
dc.identifier.isbn	0780386469	en_US
dc.identifier.isbn	9780780386464	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2813
dc.description.abstract	In this paper, an algorithm for extracting line segments from information gathered by a laser rangefinder is presented. The range scan is processed to compute a parameter that is invariant to the position and orientation of straight lines present. This parameter is then used to identify observations that potentially belong to straight lines and compute the slope of these lines. Log-Hough transform, that only explores a small region of the Hough space identified by the slopes computed, is then used to find the equations of the lines present. The proposed method thus combines robustness of the Hough transform technique with the inherent efficiency of line fitting strategies while carrying out all computation in the sensor coordinate frame yielding a fast and robust algorithm for line extraction from laser range scans. Two practical examples are presented to demonstrate the efficacy of the algorithm and compare its performance to the traditional techniques.	en_US
dc.relation.ispartof	2004 IEEE Conference on Robotics, Automation and Mechatronics	en_US
dc.title	An efficient algorithm for line extraction from laser scans	en_US
dc.type	Conference Proceeding
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Singapore	en_US
dc.location.activity	Singapore, SINGAPORE
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

In this paper, an algorithm for extracting line segments from information gathered by a laser rangefinder is presented. The range scan is processed to compute a parameter that is invariant to the position and orientation of straight lines present. This parameter is then used to identify observations that potentially belong to straight lines and compute the slope of these lines. Log-Hough transform, that only explores a small region of the Hough space identified by the slopes computed, is then used to find the equations of the lines present. The proposed method thus combines robustness of the Hough transform technique with the inherent efficiency of line fitting strategies while carrying out all computation in the sensor coordinate frame yielding a fast and robust algorithm for line extraction from laser range scans. Two practical examples are presented to demonstrate the efficacy of the algorithm and compare its performance to the traditional techniques.

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http://hdl.handle.net/10453/2813