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International Journal of Innovation and Scientific Research
ISSN: 2351-8014
 
 
Thursday 13 May 2021

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A Novel Line Extraction Algorithm using 2D LiDAR for Ego-motion Estimation


Volume 27, Issue 1, October 2016, Pages 1–8

 A Novel Line Extraction Algorithm using 2D LiDAR for Ego-motion Estimation

Lei Ye1

1 College of Mechatronic Engineering and Automation, National University of Defence Technology, ChangSha, Hunan, China

Original language: English

Copyright © 2016 ISSR Journals. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract


The paper proposes a convex hull-based algorithm for rapid line extraction from 2D LiDAR datas. It uses an algorithm to calculate feature points in LiDAR data frames. Geometric features contained in these feature points provide information for subsequent matching. Compared with traditional LiDAR matching algorithms, the algorithm is greatly improved in terms of iterations and matching precision. This algorithm finally was used to solve the ego-motion estimation of an indoor robot.

Author Keywords: scan matching, feature extraction, mobile robot, ego-motion estimation.


How to Cite this Article


Lei Ye, “A Novel Line Extraction Algorithm using 2D LiDAR for Ego-motion Estimation,” International Journal of Innovation and Scientific Research, vol. 27, no. 1, pp. 1–8, October 2016.