期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：1
DOI：10.1177/1729881418755245
语种：English
出版社：SAGE Publications
摘要：This article presents a novel line segment extraction algorithm using two-dimensional (2D) laser data, which is composed of four main procedures: seed-segment detection, region growing, overlap region processing, and endpoint generation. Different from existing approaches, the proposed algorithm borrows the idea of seeded region growing in the field of image processing, which is more efficient with more precise endpoints of the extracted line segments. Comparative experimental results with respect to the well-known Split-and-Merge algorithm are presented to show superior performance of the proposed approach in terms of efficiency, correctness, and precision, using real 2D data taken from our hallway and laboratory.
关键词：Line segment extraction; mobile robots; 2D laser; seed-segment; region growing
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