2次元レーザースキャンから折れ線を抽出する最尤推定法
A Maximum Likelihood Approach to Extract Polylines from 2-D Laser Range Scans
2次元レーザーレンジスキャンから、スキャンの尤度を最大化する折れ線集合を求めることで、室内環境の直線構造を高精度に抽出する確率的手法を提案した。
著者: Alexander Schaefer, Daniel Büscher, Lukas Luft, Wolfram Burgard
分類: cs.RO
原文アブストラクト
Man-made environments such as households, offices, or factory floors are typically composed of linear structures. Accordingly, polylines are a natural way to accurately represent their geometry. In this paper, we propose a novel probabilistic method to extract polylines from raw 2-D laser range scans. The key idea of our approach is to determine a set of polylines that maximizes the likelihood of a given scan. In extensive experiments carried out on publicly available real-world datasets and on simulated laser scans, we demonstrate that our method substantially outperforms existing state-of-the-art approaches in terms of accuracy, while showing comparable computational requirements. Our implementation is available under https://github.com/acschaefer/ple.
