A Slope Location and Orientation Estimation Method Based on 3D LiDAR Suitable for Quadruped Robots

	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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
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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