Abstract

Successive edge following (SEF) has been widely used to describe the environmental characteristics based on a two-dimensional (2D) laser range finder due to its simplicity. However, the segmentation accuracy of the regular SEF for different distances is very low. And besides that, the regular SEF sometimes fails to characterize the corner features in the continuous segmentation. To solve these problems, we propose an improved SEF approach, which combines 2D polar radius–arc, adaptive threshold in a region to divide different radius data into groups more reasonably. Region growing is also discussed to localize the corner based on variance of segmentation and its fitting. Finally, all features described by line segments are used to build the map of the environment. As compared to the regular SEF, our approach is information-lossless. Our experimental results show that the segmentation accuracy is improved, while the segmentation number is more realistic and the feature detection accuracy is increased, as compared with the regular SEF.

© 2015 Optical Society of America

Binocular measurement method for a continuous casting slab based on the one-dimensional probabilistic Hough transform and local sub-pixel sifting

Sixiang Xu, Hao Zhang, Binhui Dong, Yuxiang Shi, and Lifa Yang
Appl. Opt. 62(28) 7496-7502 (2023)

Weld feature extraction method based on inter-frame constraint and dynamic template

Zhen Mei, Lizhe Qi, Min Xu, and Yunquan Sun
J. Opt. Soc. Am. A 39(5) 771-781 (2022)

Laser stripe segmentation and centerline extraction based on 3D scanning imaging

Chuan Ye, Wenrong Feng, Qiyan Wang, Chao Wang, Bo Pan, Youchun Xie, Yuanyao Hu, and Jian Chen
Appl. Opt. 61(18) 5409-5418 (2022)

Extraction method of a nonuniform auxiliary laser stripe feature for three-dimensional reconstruction of large components

Yang Zhang, Wei Liu, Wenqi Wang, Peng Gao, Hongwen Xing, and Jianwei Ma
Appl. Opt. 59(22) 6573-6583 (2020)

Laser reflectance feature assisted accurate extrinsic calibration for non-repetitive scanning LiDAR and camera systems

Zhengchao Lai, Yue Wang, Shangwei Guo, Xiantong Meng, Jun Li, Wenhao Li, and Shaokun Han
Opt. Express 30(10) 16242-16263 (2022)