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Laser Based Intersection Detection for Reactive Navigation in an Underground Mine

J. Larsson, M. Broxvall, and A. Saffiotti

Abstract
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.
Citation
J. Larsson, M. Broxvall and A. Saffiotti. Laser Based Intersection Detection for Reactive Navigation in an Underground Mine. Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) pp. 2222-2227. Nice, France, 2008.
BibTeX entry
Contact
Email Johan Larsson
Email Mathias Broxvall
Email Alessandro Saffiotti
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