Extracting stairs and doors as natural landmarks for mobile robot localization from clouds of 3D edge-points
Natural landmarks are the main features in the next step of the research in localization of mobile robot platforms. The identification and recognition of these landmarks are crucial to better localize a robot. To help solving this problem, this work proposes an approach for the identification and r...
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| Formaat: | doctoralThesis |
| Taal: | pt_BR |
| Gepubliceerd in: |
Universidade Federal do Rio Grande do Norte
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| Onderwerpen: | |
| Online toegang: | https://repositorio.ufrn.br/handle/123456789/31930 |
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| Samenvatting: | Natural landmarks are the main features in the next step of the research in localization of mobile robot platforms. The identification and recognition of these landmarks are
crucial to better localize a robot. To help solving this problem, this work proposes an approach for the identification and recognition of natural marks included in the environment
using images from RGB-D sensors. In the identification step, a structural analysis of the
natural landmarks that are present in the environment is performed. The extraction of
edge points of these landmarks is done using the 3D point cloud obtained from the RGBD sensor. These edge points are smoothed through the Sl0 algorithm, which minimizes
the standard deviation of the normals at each point. Then, the second step of the proposed
algorithm begins, which is the proper recognition of the natural landmarks. This recognition step is done as a real-time algorithm that extracts the points referring to the filtered
edges and determines to which structure they belong to in the current scenario: stairs or
doors. Finally, the geometrical characteristics that are intrinsic to the doors and stairs are
identified. The approach proposed here has been validated with real robot experiments.
The performed tests verify the efficacy of our proposed approach. |
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