Laser Based Intersection Detection for Reactive Navigation in an Underground Mine
J. Larsson, M. Broxvall, and A. Saffiotti
In this paper we propose a new feature detection algorithm to enable
junction recognition intended for high speed reactive navigation in
tunnel like environments. We also present an extensive experimental
evaluation of the algorithm based on data recorded in a real mine. The
algorithm is faster and has less environmental constraints than similar
algorithms that can be found in the litterature.