Contour reconstruction using recursive smoothing splines experimental validation
2007 (English)In: IEEE International Conference on Intelligent Robots and Systems: Vols 1-9, 2007, 2077-2082 p.Conference paper (Refereed)
In this paper, a recursive smoothing spline approach for contour reconstruction is studied and evaluated. Periodic smoothing splines are used by a robot to approximate the contour of encountered obstacles in the environment. The splines are generated through minimizing a cost function subject to constraints imposed by a linear control system and accuracy is improved iteratively using a recursive spline algorithm. The filtering effect of the smoothing splines allows for usage of noisy sensor data and the method is robust to odometry drift. Experimental evaluation is performed for contour reconstruction of three objects using a SICK laser scanner mounted on a PowerBot from ActivMedia Robotics.
Place, publisher, year, edition, pages
2007. 2077-2082 p.
IdentifiersURN: urn:nbn:se:kth:diva-39182DOI: 10.1109/IROS.2007.4399044ISI: 000254073201106ScopusID: 2-s2.0-51449091545ISBN: 978-1-4244-0911-2OAI: oai:DiVA.org:kth-39182DiVA: diva2:439500
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007; San Diego, CA; 29 October 2007 through 2 November 2007