Lidar-based door and stair detection from a mobile robot

Mayank Bansal; Ben Southall; Bogdan Matei; Jayan Eledath; Harpreet Sawhney

doi:10.1117/12.849926

7 May 2010 Lidar-based door and stair detection from a mobile robot

Mayank Bansal, Ben Southall, Bogdan Matei, Jayan Eledath, Harpreet Sawhney

Proceedings Volume 7692, Unmanned Systems Technology XII; 769203 (2010) https://doi.org/10.1117/12.849926
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

Citation Download Citation

Mayank Bansal, Ben Southall, Bogdan Matei, Jayan Eledath, and Harpreet Sawhney "Lidar-based door and stair detection from a mobile robot", Proc. SPIE 7692, Unmanned Systems Technology XII, 769203 (7 May 2010); https://doi.org/10.1117/12.849926

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