深圳大学学报（理工版）2011，Vol.28Issue(6)：483-488,6.
基于自适应阈值的距离图像线段特征提取
Line feature extraction based on adaptive threshold in range images
摘要
Abstract
A method that extracts segments in 2D range images from LIDAR (light detection and ranging) for mo-bile robotic localization and mapping was presented. The method included two stages, splitting and merging. In the first stage, a set of points was split recursively with IEPF, and then the end points of all the sets were reconfigured by using the principle of LT segmentation method. In the second stage, two situations are corresponding to the number of points included in two adjacent sets of points, and two adaptive threshold merging methods were used accordingly. The merging stage was also a recursive process. Experimental results show that the method presented in this paper well resolved over-splitting and over-merging problems in exacting segments. The end points of segments are denoted more accurately.关键词
移动机器人/定位/特征提取/2D距离图像/自适应阈值/激光雷达Key words
mobile robots/localization/feature extraction/ 2D range images/ adaptive threshold/ LIDAR分类
信息技术与安全科学引用本文复制引用
满增光,叶文华,楼佩煌,钱晓明..基于自适应阈值的距离图像线段特征提取[J].深圳大学学报（理工版）,2011,28(6):483-488,6.基金项目
江苏省科技支撑计划资助项目(BE2010189)This work was supported by Science and Technology Support Plans of Jiangsu Province(BE2010189). （BE2010189）
