Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver

— A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method suitable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method. The people leg detection is based on geometrical relations. The system was implemented as a plugin driver in Player, a mobile robot server. Real results are presented to verify the effectiveness of the proposed algorithms in indoor environment with moving objects.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: João Xavier, Marco Pacheco, Daniel Castro, António E. B. Ruano, Urbano Nunes
• Keywords: Detection, ICRA 2005, Inscribed Angle Variance, People Leg, Robotics