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Proceedings Paper

Lidar-based door and stair detection from a mobile robot
Author(s): Mayank Bansal; Ben Southall; Bogdan Matei; Jayan Eledath; Harpreet Sawhney
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Paper Abstract

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

Paper Details

Date Published: 7 May 2010
PDF: 8 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 769203 (7 May 2010); doi: 10.1117/12.849926
Show Author Affiliations
Mayank Bansal, Sarnoff Corp. (United States)
Ben Southall, Sarnoff Corp. (United States)
Bogdan Matei, Sarnoff Corp. (United States)
Jayan Eledath, Sarnoff Corp. (United States)
Harpreet Sawhney, Sarnoff Corp. (United States)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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