PCA-based line detection from range data for mapping and localization-aiding of UAVs

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dc.contributor.authorOpromolla, Roberto
dc.contributor.authorFasano, Giancarmine
dc.contributor.authorGrassi, Michele
dc.contributor.authorSavvaris, Al
dc.contributor.authorMoccia, Antonio
dc.date.accessioned2017-03-30T15:20:29Z
dc.date.available2017-03-30T15:20:29Z
dc.date.issued2017-03
dc.description.abstractThis paper presents an original technique for robust detection of line features from range data, which is also the core element of an algorithm conceived for mapping 2D environments. A new approach is also discussed to improve the accuracy of position and attitude estimates of the localization by feeding back angular information extracted from the detected edges in the updating map. The innovative aspects of the line detection algorithm regard the proposed hierarchical clusterization method for segmentation. Instead, line fitting is carried out by exploiting the Principal Component Analysis, unlike traditional techniques relying on Least Squares linear regression. Numerical simulations are purposely conceived to compare these approaches for line fitting. Results demonstrate the applicability of the proposed technique as it provides comparable performance in terms of computational load and accuracy compared to the least squares method. Also, performance of the overall line detection architecture, as well as of the solutions proposed for line-based mapping and localization-aiding is evaluated exploiting real range data acquired in indoor environments using an UTM-30LX-EW 2D LIDAR. This paper lies in the framework of autonomous navigation of unmanned vehicles moving in complex 2D areas, e.g. unexplored, full of obstacles, GPS-challenging or denied.en_UK
dc.identifier.citationRoberto Opromolla, Giancarmine Fasano, Michele Grassi, Al Savvaris and Antonio Moccia. PCA-based line detection from range data for mapping and localization-aiding of UAVs. International Journal of Aerospace Engineering. Volume 2017, Article ID 4241651.en_UK
dc.identifier.issn1687-5966
dc.identifier.uriAccepted 19 February 2017
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/11692
dc.language.isoenen_UK
dc.publisherHindawien_UK
dc.rightsAttribution 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectLine detectionen_UK
dc.subjectLine fittingen_UK
dc.subjectrincipal Component Analysisen_UK
dc.subjectMappingen_UK
dc.subjectLIDARen_UK
dc.titlePCA-based line detection from range data for mapping and localization-aiding of UAVsen_UK
dc.typeArticleen_UK

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