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 | |
会议日期 | December 3-7, 2016 |
会议地点 | Qingdao, China |
页码 | 197-201 |
英文摘要 |
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. |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/20878] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
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]. 见:. Qingdao, China. December 3-7, 2016. |
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