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Dealing with Laser
Scanner Failure: Mirrors and Windows
Shao-Wen Yang and Chieh-Chih Wang
2008 IEEE International Conference on
Robotics and Automation
Abstract |
This
paper addresses the problem of laser scanner failure on mirrors and
windows. Mirrors and glasses are quite common objects that appear in
our daily lives. However, while laser scanners play an important role
nowadays in the field of robotics, there are very few literatures that
address the related issues such as mirror reflection and glass
transparency. We introduce a sensor fusion technique to detect the
potential obstacles not seen by laser scanners. A laser-based mirror
tracker is also proposed to figure out the mirror locations in the
environment. The mirror tracking method is seamlessly integrated with
the occupancy grid map representation and the mobile robot localization
framework. The proposed approaches have been demonstrated using data
from sonar sensors and a laser scanner equipped on the NTU-PAL5 robot.
Mirrors and windows, as potential obstacles, are successfully detected
and tracked.
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Download |
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The full paper is available in PDF.
The video is available here.
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Bibtex |
@inproceedings{Yang_icra08,
author = {Shao-Wen Yang and Chieh-Chih Wang },
title = {Dealing with Laser
Scanner Failure: Mirrors and Windows},
booktitle = {IEEE
International Conference on Robotics and Automation (ICRA)},
address = {Pasadena, California},
month = {May},
year = {2008},
}
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Copyright ©
Chieh-Chih
(Bob) Wang 2008. All right reserved.
Last Updated: Feb. 10, 2008.
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