Describing the environment using semantic labelled polylines from 2D laser scanned raw data: Application to autonomous navigation.

被引：0
|
作者：
Pavon, N.
Ferruz, J.
Ollero, A.
机构：
来源：
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词：
ROBOTS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper describes a real-time method that obtains a hybrid description of the environment (both metric and semantic) from raw data perceived by a 2D laser scanner. A set of linguistically labelled polylines allows to build a compact geometrical representation of the indoor location where a set of representative points (or features) are semantically described. These features are processed in order to find a list of traversable segments whose middle points are heuristically clustered. Finally, a set of safe paths are calculated from these clusters. Both the environment representation and the safe paths can be used by a controller to carry out navigation and exploration tasks. The method has been successfully tested in simulation and on a real robot.
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页数：6
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