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A virtual sensor for room detection
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2002 (English)In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems: IROS - Lausanne, CH, 2002, 2002, p. 637-642Conference paper, Published paper (Refereed)
Abstract [en]

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

Place, publisher, year, edition, pages
2002. p. 637-642
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3933DOI: 10.1109/IRDS.2002.1041463ISBN: 0-7803-7398-7 (print)OAI: oai:DiVA.org:oru-3933DiVA, id: diva2:138232
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Lausanne, Schweiz, 2002
Available from: 2007-08-14 Created: 2007-08-14 Last updated: 2018-01-13Bibliographically approved

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Buschka, PärSaffiotti, Alessandro

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf