Method for extracting curb of road using laser range finder and method for localizing of mobile robot using curb information of road
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United States of America Patent
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Sep 27, 2016
Grant Date -
Jan 14, 2016
app pub date -
Oct 23, 2014
filing date -
Jul 9, 2014
priority date (Note) -
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status (Latency Note)
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Abstract
The invention relates to a method for extracting a curb of a road using a laser range finder and a method for localizing of a mobile robot using curb information of a road. The method for extracting the curb of the road using the laser range finder includes extracting a road surface and line segments from scan data of the laser range finder, extracting a plurality of curb candidate line segments among the line segments on the basis of an angle between the road surface and the line segment, extracting a plurality of curb candidates having a plurality of curb properties, wherein each of the plurality of curb candidates is generated by combining the couple of the curb candidate line segments, and applying the plurality of the curb candidates to a Kernel Fisher Discriminant Analysis to extract a final curb.
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