Abstract:
In this paper, an algorithm for extracting
line segments from information gathered by a laser
rangefinder is presented. The range scan is processed
to compute a parameter that is invariant to the position
and orientation of straight lines present. This
parameter is then used to identify observations that
potentially belong to straight lines and compute the
slope of these lines. Log-Hough transform, that only
explores a small region of the Hough space identified by
the slopes computed, is then used to find the equations
of the lines present. The proposed method thus
combines robustness of the Hough transform technique
with the inherent efficiency of line fitting strategies
while carrying out all computation in the sensor
coordinate frame yielding a fast and robust algorithm
for line extraction from laser range scans. Two
practical examples are presented to demonstrate the
efficacy of the algorithm and compare its performance
to the traditional techniques.
