Circle detection and fitting using laser range finder for positioning system

Xiangqi Huang, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, inspired by RANSAC and Hough Transform voting procedure, a modified RANSAC algorithm of detection of cylindrical reference target using LRF for positioning system is proposed. Utilizing the orientation-invariant property of the circle, cylindrical shaped bar is chosen as the reference target of the positioning system. The given radius of the cylinder and convex arc shaped contour observed by LRF are two important constraints of the model of circle used in this positioning system. Simulation results prove that under given conditions the proposed circle detection algorithm works better than original RANSAC when occlusion and noise make the ratio of qualified inliers decrease. The reason is that a voting procedure can reduce the effect of noise and guarantee a more reliable model hypothesis. After extraction of enough inliers by proposed circle detection algorithm, maximum likelihood estimation is implemented to estimate the precise center position of the reference target.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages1366-1370
Number of pages5
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Conference

ConferenceInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

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Keywords

  • Circle detection and fitting
  • Laser range finder
  • Maximum likelihood estimation
  • Positioning system
  • RANSAC
  • Voting

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Huang, X., Sasaki, T., Hashimoto, H., & Inoue, F. (2010). Circle detection and fitting using laser range finder for positioning system. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 1366-1370). [5670307] (ICCAS 2010 - International Conference on Control, Automation and Systems).