Application of Log-Hough Transform to Lidar Navigation

小行星9361990 有效的感知和处理是移动的机器人导航的关键。 随着传感器技术的进步，传统的处理方法成为瓶颈，削弱了真实的时间操作。 全视线研究公司最近开发了一种低成本的LIDAR系统，能够每秒生成10，000个样本，挑战传统传感器的数据处理速度。 该研究项目将通过应用log-Hough变换来识别墙壁并对其进行参数化描述，从而有效且鲁棒地压缩感知范围轴承数据。 墙是建筑环境中的主要导航参照要素。 log-Hough变换将一长串传感器对墙壁的撞击转换为表示线参数的单个数据点。 这种简洁的数据可以用于根据先验地图进行定位，而不会使导航器的通信信道过载。 在第一阶段，将收集激光雷达数据，并就距离和方位分辨率进行分析;软件将对这些数据进行对数霍夫变换。 在第二阶段，该方法将在TRC的HelpMate移动的机器人上运行的真实的原型导航系统中实现。 在第三阶段，该方法将被纳入用于移动的机器人导航和避障的商业产品中。

9361990 Weiman Efficient sensory perception and processing are crucial to mobile robot navigation. As sensor technology advances, conventional processing methods become a bottleneck, crippling real time operation. Transitions Research Corporation has recently develop a low-cost LIDAR system capable of generating 10,000 samples per second, challenging conventional sensor data processing rates. This research project will efficiently and robustly compress sensory range-bearing data by applying the log-Hough transform to recognize walls and characterize them parametrically. Walls are the dominant navigation reference features in built environments. The log-Hough transform converts a long chain of sensor hits on a wall to a single data point representing line parameters. This succinct data can be used for localization against a priori maps without overloading communications channels to the navigator. In Phase I, LIDAR data will be gathered and analyzed with respect to range and bearing resolution; software will implement the log-Hough transform for these data. In Phase II, the method will be implemented in a real time prototype navigation system running on TRC's HelpMate mobile robot. In Phase III, the method will be incorporated into a commercial product for mobile robots navigation and obstacle avoidance.