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A virtual sensor fo...
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Buschka, PärÖrebro universitet,Institutionen för teknik,Mobile Robotics Lab
(author)
A virtual sensor for room detection
- Article/chapterEnglish2002
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LIBRIS-ID:oai:DiVA.org:oru-3933
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https://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-3933URI
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https://doi.org/10.1109/IRDS.2002.1041463DOI
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Language:English
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Summary in:English
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Subject category:ref swepub-contenttype
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Subject category:kon swepub-publicationtype
Notes
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Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. Our technique includes two parts: segmentation, which isolates room-like spaces and detects when the robot has entered a new one; and feature extraction, which associates each space with a set of geometric features useful for navigation or recognition. Many such features can be considered: here we propose a new method to compute width and length of a rectangular room in a way which is largely invariant with respect to the configuration of the furniture. We report experimental results that show the performance of our technique, and hint at a possible use of this technique for coarse localization on a topological map
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Saffiotti, AlessandroÖrebro universitet,Institutionen för teknik,Mobile Robotics Lab(Swepub:oru)asaffio
(author)
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Örebro universitetInstitutionen för teknik
(creator_code:org_t)
Related titles
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In:Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, s. 637-6420780373987
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