Arc/Line Segments Extraction From Unknown Indoor Environment With Laser Sensor

This paper proposed an arc/line extraction algorithm from the unknown indoor environment with a laser sensor. After getting the raw sensor data from laser sensor, the data is divided into different groups by checking the distance of two adjacent points. If the distance is bigger than a limit value, the sensor points in this group will be separated into two groups at these two points. Then the angle of three adjacent points is calculated and compared with another limit value. The group will be split into twos at the middle one of three points if the limiting condition is not satisfied. Moreover, the points in every group are attempted to extracting as a line segment firstly. If the extracted line is not smooth enough, the points in this group are extracted as an arc segment. After the segmenting process, these segments are merged by using the segments merging algorithm. In addition, the experiment results of arc/line extraction in unknown indoor environment by using a HOKUYO laser sensor located on a Pioneer mobile robot are presented.