A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics

This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on $\\mathbf{100}$ real data scans collected in an office environment with a map size of $\\mathbf{80m \\times 50m}$. Several comparison criteria are proposed and discussed to highlight the advantages and drawbacks of each algorithm, including speed, complexity, correctness and precision. The results of the algorithms are compared with the ground truth using standard statistical methods.

Presented at:
None, IROS, Edmonton, Canada

 Record created 2006-12-07, last modified 2018-01-27

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