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Segmentation algorithms for 2D-Laserscans in an indoor environment

  • 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.

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Author:Gabriel Nock
Document Type:Master's Thesis
Year of Publication:2003
Publishing Institution:HTWG Konstanz
Release Date:2004/01/15
Tag:2 D environment Laser data; Autonomous Mobile Indoor Robot; Navigation; Laser-Sensor; distance measurement
GND Keyword:Laserimpuls; Lasermesstechnik; Navigieren; Roboter
Institutes:Fakultät Informatik
DDC functional group:004 Informatik
Open Access?:Ja