TY - GEN
T1 - Circle detection and fitting using laser range finder for positioning system
AU - Huang, Xiangqi
AU - Sasaki, Takeshi
AU - Hashimoto, Hideki
AU - Inoue, Fumihiro
PY - 2010
Y1 - 2010
N2 - In this paper, inspired by RANSAC and Hough Transform voting procedure, a modified RANSAC algorithm of detection of cylindrical reference target using LRF for positioning system is proposed. Utilizing the orientation-invariant property of the circle, cylindrical shaped bar is chosen as the reference target of the positioning system. The given radius of the cylinder and convex arc shaped contour observed by LRF are two important constraints of the model of circle used in this positioning system. Simulation results prove that under given conditions the proposed circle detection algorithm works better than original RANSAC when occlusion and noise make the ratio of qualified inliers decrease. The reason is that a voting procedure can reduce the effect of noise and guarantee a more reliable model hypothesis. After extraction of enough inliers by proposed circle detection algorithm, maximum likelihood estimation is implemented to estimate the precise center position of the reference target.
AB - In this paper, inspired by RANSAC and Hough Transform voting procedure, a modified RANSAC algorithm of detection of cylindrical reference target using LRF for positioning system is proposed. Utilizing the orientation-invariant property of the circle, cylindrical shaped bar is chosen as the reference target of the positioning system. The given radius of the cylinder and convex arc shaped contour observed by LRF are two important constraints of the model of circle used in this positioning system. Simulation results prove that under given conditions the proposed circle detection algorithm works better than original RANSAC when occlusion and noise make the ratio of qualified inliers decrease. The reason is that a voting procedure can reduce the effect of noise and guarantee a more reliable model hypothesis. After extraction of enough inliers by proposed circle detection algorithm, maximum likelihood estimation is implemented to estimate the precise center position of the reference target.
KW - Circle detection and fitting
KW - Laser range finder
KW - Maximum likelihood estimation
KW - Positioning system
KW - RANSAC
KW - Voting
UR - http://www.scopus.com/inward/record.url?scp=78751499816&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751499816&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78751499816
SN - 9781424474530
T3 - ICCAS 2010 - International Conference on Control, Automation and Systems
SP - 1366
EP - 1370
BT - ICCAS 2010 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2010
Y2 - 27 October 2010 through 30 October 2010
ER -