We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehi- cle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.
CITATION STYLE
Bansal, M., Southall, B., Matei, B., Eledath, J., & Sawhney, H. (2010). Lidar-based door and stair detection from a mobile robot. In Unmanned Systems Technology XII (Vol. 7692, p. 769203). SPIE. https://doi.org/10.1117/12.849926
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