7 May 2010 Lidar-based door and stair detection from a mobile robot
Author Affiliations +
Abstract
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.
© (2010) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Mayank Bansal, Ben Southall, Bogdan Matei, Jayan Eledath, Harpreet Sawhney, "Lidar-based door and stair detection from a mobile robot", Proc. SPIE 7692, Unmanned Systems Technology XII, 769203 (7 May 2010); doi: 10.1117/12.849926; https://doi.org/10.1117/12.849926
PROCEEDINGS
8 PAGES


SHARE
Back to Top