Circle detection and fitting using laser range finder for positioning system

Xiangqi Huang, Takeshi Sasaki, Hideki Hashimoto, Fumihiro Inoue

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICCAS 2010 - International Conference on Control, Automation and Systems
ページ1366-1370
ページ数5
出版ステータスPublished - 2010
外部発表はい
イベントInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
継続期間: 2010 10月 272010 10月 30

出版物シリーズ

名前ICCAS 2010 - International Conference on Control, Automation and Systems

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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