A new adaptive approach on rapid obstacle detection in range image

摘要

New approaches for rapidly detecting the obstacles in spherical coordinate using range image sensed by Laser Imaging Range Sensor(LIRS) are presented in this paper. The algorithm that adaptively thresholds the normalized range differences is shown to have rapid and robust results for edge detection of obstacle of real outdoor range image, and is useful for obstacle detection in mobile robot. Some problems of range sensing for LIRS encountered in the implementation of the method as well as the robustness of this algorithm are discussed.