中国机械工程2011，Vol.22Issue(19)：2303-2306,4.
基于分开-合并的激光雷达距离图像特征提取
Feature Extraction Based on Split-merge in Range Image of LIDAR
摘要
Abstract
For the environmental perception of mobile robots with light detection and ranging（LIDAR）,a method based on split-merge framework was presented herein.In splitting stage,a data set was segmented recursively with the IEPF（iterative end point fit） algorithm.In merging stage,both the EPF（end point fit） method and the total least square method were used to fit a new data set composed of the two adjacent segments.If their fitted errors were less than their thresholds respectively,the two data sets were merged into one.Merging stage was a recursive process for that it didn＇t terminate until every two adjacent data sets didn＇t satisfy the merging condition mentioned above.Results of comparative experiment show that the method presented reduces the probability of over-segmentation and under-segmentation resulted of the fixed threshold of the IEPF algorithm greatly and achieves good results of linear feature extraction.关键词
移动机器人/直线特征提取/激光雷达/分开-合并框架Key words
mobile robot/linear feature extraction/light detection and ranging（LIDAR）/split-merge frame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,肖海宁..基于分开-合并的激光雷达距离图像特征提取[J].中国机械工程,2011,22(19):2303-2306,4.基金项目
江苏省科技支撑计划资助项目（BE2010189) （）
