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Triangular mesh construction based on point cloud matrix and edge feature extraction
Sun JY(孙金云); Jiang Y(姜勇); Jiang J(姜静); Bai, Xiaobao
Department空间自动化技术研究室
Conference Name2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2016
Conference DateMay 20-22, 2016
Conference PlaceChongqing, China
Author of SourceChongqing Global Union Academy of Science and Technology; Global Union Academy of Science and Technology; IEEE Beijing Section
Source PublicationProceedings of 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages275-279
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164202910730
WOS IDWOS:000389505000058
Contribution Rank1
ISBN978-1-4673-9192-4
KeywordGranary Temperature Measurement Power Supply Detection Wireless Communication
AbstractThis paper builds a 3D laser scanner by a one-dimensional pitching rotation pan-tilt and a 2D laser range finder to get the 3D laser point cloud data from the motion environment. Depends on this data, a triangular mesh construction algorithm based on the point cloud matrix is proposed to construct the triangular mesh of the motion environment. Then a triangular plane normal vector clustering algorithm is used to extract the edge feature from the triangular mesh and the mean square deviation is employed as further process to make the edge feature more accurately. The experiment results show that the triangular mesh of motion environment can be constructed effectively and edge feature can be exacted accurately by the algorithms applied above. It lays the foundation of mobile robot autonomous movement in unknown complex environments.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19278
Collection空间自动化技术研究室
Corresponding AuthorSun JY(孙金云)
Affiliation1.College of Automation and Electrical Engineering, Shenyang Ligong University the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.State Grid Shanxi Electric Power Company Taiyuan, China
Recommended Citation
GB/T 7714
Sun JY,Jiang Y,Jiang J,et al. Triangular mesh construction based on point cloud matrix and edge feature extraction[C]//Chongqing Global Union Academy of Science and Technology; Global Union Academy of Science and Technology; IEEE Beijing Section. Piscataway, NJ, USA:IEEE,2016:275-279.
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