7 May 2010 Lidar-based door and stair detection from a mobile robot
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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.
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Mayank Bansal, Mayank Bansal, Ben Southall, Ben Southall, Bogdan Matei, Bogdan Matei, Jayan Eledath, Jayan Eledath, Harpreet Sawhney, 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

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