Contour reconstruction using recursive smoothing splines - experimental validation

In this paper, a recursive smoothing spline approach for contour reconstruction is studied and evaluated. Periodic smoothing splines are used by a robot to approximate the contour of encountered obstacles in the environment. The splines are generated through minimizing a cost function subject to con...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2071 - 2076
Main Authors Piccolo, G., Karasalo, M., Kragic, D., Hu, X.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Applied mathematics
Control systems
Cost function
Filtering
Iterative algorithms
MATEMATIK
MATHEMATICS
Optimeringslära, systemteori
Optimization, systems theory
Performance evaluation
Power lasers
Robots
Robustness
Smoothing methods
Tillämpad matematik
Working environment noise
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Summary:In this paper, a recursive smoothing spline approach for contour reconstruction is studied and evaluated. Periodic smoothing splines are used by a robot to approximate the contour of encountered obstacles in the environment. The splines are generated through minimizing a cost function subject to constraints imposed by a linear control system and accuracy is improved iteratively using a recursive spline algorithm. The filtering effect of the smoothing splines allows for usage of noisy sensor data and the method is robust to odometry drift. Experimental evaluation is performed for contour reconstruction of three objects using a SICK laser scanner mounted on a PowerBot from ActivMedia Robotics.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399044