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
会议名称IEEE International Conference on Robotics and Biomimetics
页码197-201
会议日期December 3-7, 2016
会议地点Qingdao, China
摘要
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.
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20878
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
推荐引用方式
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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