TY  - THES
U1  - Master Thesis
A1  - Nock, Gabriel
T1  - Segmentation algorithms for 2D-Laserscans in an indoor environment
N2  - This work treats with the segmentation of 2D environment Laser data, captured by an Autonomous Mobile Indoor Robot. It is part of the data processing, which is necessary to navigate a mobile robot error free in its environment. The whole process can generally be described by data capturing, data processing and navigation. In this project the data processing deals with data, captured by a Laser-Sensor, which provides two dimensional data by a series of distance measurements i.e. point-measurements of the environment. These point series have to be filtered and processed into a more convenient representation to provide a virtual environment map, which can be used of the robot for an error free navigation. This project provides different solutions of the same problem: the conversion from distance points to model segments which should represent the real world environment as close as possible. The advantages and disadvantages of each of the different Segmentation-Algorithms will be shown as well as a comparison taking into account the Computational Time and the Robustness of the results.
KW  - Laserimpuls
KW  - Lasermesstechnik
KW  - Navigieren
KW  - Roboter
KW  - 2 D environment Laser data
KW  - Autonomous Mobile Indoor Robot
KW  - Navigation
KW  - Laser-Sensor
KW  - distance measurement
Y2  - 2003
ER  -