Scale-Based Description and Recognition of Planar Curves and Two-Dimensional Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Partial Shape Classification Using Contour Matching in Distance Transformation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Maintaining representations of the environment of a mobile robot
Autonomous robot vehicles
IEEE Transactions on Pattern Analysis and Machine Intelligence
The spatial semantic hierarchy
Artificial Intelligence
Simultaneous Localization and Map-Building Using Active Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Line Extraction in 2D Range Images for Mobile Robotics
Journal of Intelligent and Robotic Systems
Mean shift based clustering of Hough domain for fast line segment detection
Pattern Recognition Letters
An Improved Method of Angle Detection on Digital Curves
IEEE Transactions on Computers
Spectral clustering for feature-based metric maps partitioning in a hybrid mapping framework
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Curvilinear image regions detection: applications to mobile robotics
EURASIP Journal on Advances in Signal Processing - Special issue on biologically inspired signal processing: analyses, algorithms and applications
Prediction-based geometric feature extraction for 2D laser scanner
Robotics and Autonomous Systems
LESS-mapping: Online environment segmentation based on spectral mapping
Robotics and Autonomous Systems
Robotics and Autonomous Systems
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This paper proposes a geometrical feature detection system which is to be used with conventional 2D laser range finders. It consists of three main modules: data acquisition and pre-processing, segmentation and landmark extraction and characterisation. The novelty of this system is a new approach for laser data segmentation based on an adaptive curvature estimation. Contrary to other works, this approach divides the laser scan into line and curve segments. Then, these items are used to directly extract several types of landmarks associated with real and virtual features of the environment (corners, center of tree-like objects, line segments and edges). For each landmark, characterisation provides not only the parameter vector, but also complete statistical information, suitable to be used in a localization and mapping algorithm. Experimental results show that the proposed approach is efficient to detect landmarks for structured and semi-structured environments.