CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A Slope Location and Orientation Estimation Method Based on 3D LiDAR Suitable for Quadruped Robots
Meng Xiangrui1,2; Zhou Chao1,2; Cao Zhiqiang1,2; Zhang Leijie1,2; Liu Xilong1,2; Wang Shuo1,2
2016-12
Conference NameIEEE International Conference on Robotics and Biomimetics
Pages197-201
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Abstract
3D LiDAR is widely used for mobile robots environment perception nowadays, which has high precision of distance measurement. In this paper, a calibration method which is suitable for Velodyne VLP-16 is firstly introduced. And then we utilize statistical filtering for isolated points removal. After statistical filtering, a slope location and orientation estimation method is presented based on PROSAC algorithm, which can achieve plane extraction from the 3D point cloud data. Experiments are conducted to testify the performance of the presented method.
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20878
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Meng Xiangrui,Zhou Chao,Cao Zhiqiang,et al. A Slope Location and Orientation Estimation Method Based on 3D LiDAR Suitable for Quadruped Robots[C],2016:197-201.
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