2D feature extraction in sensor coordinates for laser range finder

• Main Authors: Hadji, Saif Eddine, Tang, Howe Hing, Khattak, Muhammad Adil, Mohamed Ali, Mohamed Sultan, Kazi, Suhail
• Format: Conference or Workshop Item
• Published: 2015
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/60760/; http://www.wseas.us/e-library/conferences/2015/Malaysia/CSCCA/CSCCA-06.pdf.

This paper describes an algorithm for feature extraction from measurements collected by laser range finder. The features are straight lines and corners present in the environment. The measurements are processed in the sensor coordinate system to identify an invariant parameter for the present straig...