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

Authors:
Viet Nguyen;Stefan Gächter;Agostino Martinelli;Nicola Tomatis;Roland Siegwart
Affiliations:
Autonomous Systems Laboratory (ASL), Swiss Federal Institute of Technology Zürich (ETHZ), Zurich, Switzerland 8092;Autonomous Systems Laboratory (ASL), Swiss Federal Institute of Technology Zürich (ETHZ), Zurich, Switzerland 8092;Autonomous Systems Laboratory (ASL), Swiss Federal Institute of Technology Zürich (ETHZ), Zurich, Switzerland 8092;BlueBotics SA, Lausanne, Switzerland 1015;Autonomous Systems Laboratory (ASL), Swiss Federal Institute of Technology Zürich (ETHZ), Zurich, Switzerland 8092
Venue:
Autonomous Robots
Year:
2007

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Abstract

This paper presents an experimental evaluation of different line extraction algorithms applied to 2D laser scans for indoor environments. Six popular algorithms in mobile robotics and computer vision are selected and tested. Real scan data collected from two office environments by using different platforms are used in the experiments in order to evaluate the algorithms. Several comparison criteria are proposed and discussed to highlight the advantages and drawbacks of each algorithm, including speed, complexity, correctness and precision. The results of the algorithms are compared with ground truth using standard statistical methods. An extended case study is performed to further evaluate the algorithms in a SLAM application.