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Enhanced Seed Finding for Scan-line Grouping Based LIDAR Plane Extraction

  • Tianwei ZhangEmail author
  • Yoshihiko Nakamura
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

Robots are expected to work in human living environment, which include abundant planar surfaces. Planar is an important semantic information for robots, especially for humanoids, which often make planar contacts. In the works of Osswald et al., [1], [2], they detect staircase edges and plane segments and then match these geometric features with prior staircase models, followed by humanoid footstep planning, state estimation, and finally, fulfill continuous stair climbing with a small size humanoid robot. Additionally, in the earlier works of Gutmann et al., [3], [4], range image plane segmentation is used in unknown environment. In the case without prior models, the method efficiency and precision are important.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechano-InformaticsThe University of TokyoTokyoJapan

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