Real-Time Edge Detection of Obstacles in Range Image by Automatically Thresholding the Normalized Range Difference

摘要

This paper presents a new method for rapidly detecting the obstacles in spherical coordinate using range image sensed by Laser Imaging Range Sensor (LIRS). The algorithm that adaptively thresholds the normalized range differences is shown to have rapid and robust results for edge detectio of obstacle of real otdoor range image, and is useful for obstacle detection in mobile robot.