Contour fitting using an adaptive spline model
BMVC '95 Proceedings of the 1995 British conference on Machine vision (Vol. 1)
Brief paper: Periodic smoothing splines
Automatica (Journal of IFAC)
Optimal output-transitions for linear systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
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In this paper, a recursive smoothing spline approach for contour reconstruction is studied and evaluated. Periodic smoothing splines are used by a robot to approximate the contour of encountered obstacles in the environment. The splines are generated through minimizing a cost function subject to constraints imposed by a linear control system and accuracy is improved iteratively using a recursive spline algorithm. The filtering effect of the smoothing splines allows for usage of noisy sensor data and the method is robust to odometry drift. The algorithm is extensively evaluated in simulations for various contours and in experiments using a SICK laser scanner mounted on a PowerBot from ActivMedia Robotics.