DOI:
https://doi.org/10.14483/23448393.3848Published:
2012-06-29Issue:
Vol. 17 No. 1 (2012): January - JuneSection:
Special Section: Best Papers "VI Symposium on Optimization".Extracción de Líneas a partir de Escaneos Láser integrando Transformada de Hough, Mínimos Cuadrados Totales y Seguimiento de Bordes Sucesivos
Lines Extraction from Laser Scans Integrating Hough Transform, Total Least Squares and Successive Edges Following
Keywords:
straight lines, segmentation, laser data, Cartesian coordinates, Hough transform, total least squares. (en).Keywords:
Rectas, segmentación, datos láser, coordenadas cartesianas, transformada Hough, mínimos cuadrados totales. (es).Downloads
Abstract (es)
Este artículo presenta un método de segmentación de rectas, basado principalmente en un algoritmo de extracción de líneas robusto denominado transformada de Hough, para obtener los parámetros preliminares de las rectas compuestas por un conjunto de puntos suministrados por un escáner láser 2D, como los utilizados en sistemas de navegación de robots. Los parámetros de las rectas obtenidos por la transformada de Hough son ajustados por el algoritmo de Mínimos Cuadrados Totales (mejorando la precisión), y los puntos asociados a estos parámetros son nuevamente procesados por un algoritmo de Seguimiento de Bordes Sucesivos, con el fin de obtener las coordenadas cartesianas de los puntos extremos de las líneas que describen el entorno.
Abstract (en)
This paper presents a lines segmentation method, based mainly on a robust line extraction algorithm called Hough transform to obtain the preliminary parameters of straight lines composed of a set of points provided by a 2D láser scanner such as those used in robot navigation systems. The lines parameters obtained by the Hough transform algorithm are fitted by the Total Least Squares (improving the precision), and the points associated with these parameters are again processed by a Successive Edge Following algorithm in order to obtain the Cartesian coordinates of the extreme points of the lines which describe the environment.References
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