A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics
Top Cited Papers
- 1 January 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 21530858,p. 1929-1934
- https://doi.org/10.1109/iros.2005.1545234
Abstract
This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real data scans collected in an office environment with a map size of 80m /spl times/ 50m. 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 the ground truth using standard statistical methods.Keywords
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