A comparison of line extraction algorithms using 2D range data for indoor mobile robotics

Nguyen, Van Khanh; Gächter, Stefan; Martinelli, Agostino; Tomatis, N.; Siegwart, Roland

doi:10.1007/s10514-007-9034-y

Cited by 221 publications

(127 citation statements)

References 28 publications

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“…Thirdly, two consecutive relay nodes should maintain LOS state. To achieve those constraints, a "Split-and-Merge" algorithm [9] is used to determine boundary points of segment in the path, if distance between two consecutive marginal points is greater than c r , a new point will be insert between those two consecutive marginal points to meet principle 2, now we get set of marginal points named as MP . Next, if any two points in MP can sight with each other and the distance between them less than c r , all points between those two points will be deleted.…”

Section: Node Determinationmentioning

confidence: 99%

Visibility Overlap Region Based Relay Node Optimal Placement Algorithm in Mobile Robot Networks

Wu¹,

Li²,

Wei³

et al. 2017

dtetr

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Abstract. In this paper, we consider a problem of relay node optimal placement in mobile robot network. The task needs to deploy a group of robots as relay nodes building connectivity between target node and base station in environment containing obstacle. We model the task as a constrained optimization problem, and decision variables are the number of robots and the positions of them. To address this issue, we propose a visibility overlap region based relay node optimal placement algorithm, which is efficient heuristic method. The algorithm divides the problem into three sub-problems, which are path-planning between target node and base station, line-of-sight based relay node positions determined, and visibility overlap region based relay nodes combined and position optimization. We justify our algorithm's correctness by simulation experiment.

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Section: Node Determinationmentioning

confidence: 99%

Visibility Overlap Region Based Relay Node Optimal Placement Algorithm in Mobile Robot Networks

Wu¹,

Li²,

Wei³

et al. 2017

dtetr

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“…Nguyen et al [15] provide a thorough overview of line segmentation algorithms for planar data, and report on the promising accuracy and processing speed of the Split and Merge algorithm [18]. In order to further decrease the computational overhead of the algorithm, a simplification of the Split and Merge algorithm, the Iterative-end-point-fit (IEPF) algorithm [20] was used here.…”

Section: Obstacle Detectionmentioning

confidence: 99%

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

Park¹,

Wensing²,

Kim³

2015

Robotics: Science and Systems XI

100

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Abstract-This paper presents a new framework for the generation of high-speed running jumps to clear terrain obstacles in quadrupedal robots. Our methods enable the quadruped to autonomously jump over obstacles up to 40 cm in height within a single control framework. Specifically, we propose new control system components, layered on top of a low-level running controller, which actively modify the approach and select stance force profiles as required to clear a sensed obstacle. The approach controller enables the quadruped to end in a preferable state relative to the obstacle just before the jump. This multi-step gait planning is formulated as a multiple-horizon model predictive control problem and solved at each step through quadratic programming. Ground reaction force profiles to execute the running jump are selected through constrained nonlinear optimization on a simplified model of the robot that possesses polynomial dynamics. Exploiting the simplified structure of these dynamics, the presented method greatly accelerates the computation of otherwise costly function and constraint evaluations that are required during optimization. With these considerations, the new algorithms allow for online planning that is critical for reliable response to unexpected situations. Experimental results, for a stand-alone quadruped with on-board power and computation, show the viability of this approach, and represent important steps towards broader dynamic maneuverability in experimental machines.

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“…A comprehensive research by Nurunnabi et al (2014) compares some of the existing algorithms. A similar comparison for mobile indoor mapping can be found in (Nguyen et al, 2007). For indoor reconstruction implementation, variants of Hough Transform (Okorn et al, 2010), (Oesau et al, 2014) and RANSAC (RAndom SAmple Consensus) (Dumitru et al, 2013), (Ochmann et al, 2014) are generally preferred in 2D processing domain beside plane sweeping by Budroni and Boehm (2010), or EM (Expectation-Maximization) by Thrun et al (2004) are applied directly in 3D.…”

Section: Related Workmentioning

confidence: 99%

Towards Object Driven Floor Plan Extraction From Laser Point Cloud

Babacan¹,

Jung²,

Wichmann³

et al. 2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:During the last years, the demand for indoor models has increased for various purposes. As a provisional step to proceed towards higher dimensional indoor models, powerful and flexible floor plans can be utilised. Therefore, several methods have been proposed that provide automatically generated floor plans from laser point clouds. The prevailing methodology seeks to attain semantic enhancement of a model (e.g. the identification and labelling of its components) built upon already reconstructed (a priori) geometry. In contrast, this paper demonstrates preliminary research on the possibility to directly incorporate semantic knowledge, which is itself derived from the raw data during the extraction, into the geometric modelling process. In this regard, we propose a new method to automatically extract floor plans from raw point clouds. It is based on a hierarchical space partitioning of the data, integrated with primitive selection actuated by object detection. First, planar primitives corresponding to vertical architectural structures are extracted using M-estimator SAmple and Consensus (MSAC). The set of the resulting line segments are refined by a selection process through a novel door detection algorithm, considering optimization of prior information and fitness to the data. The selected lines are used as hyperlines to partition the space into enclosed areas. Finally, a floor plan is extracted from these partitions by Minimum Description Length (MDL) hypothesis ranking. The algorithm is applied on a real mobile laser scanner dataset and the results are evaluated both in terms of door detection and consecutive floor plan extraction.

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A comparison of line extraction algorithms using 2D range data for indoor mobile robotics

Cited by 221 publications

References 28 publications

Visibility Overlap Region Based Relay Node Optimal Placement Algorithm in Mobile Robot Networks

Visibility Overlap Region Based Relay Node Optimal Placement Algorithm in Mobile Robot Networks

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

Towards Object Driven Floor Plan Extraction From Laser Point Cloud

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