Open AccessA new range‐only measurement‐based glass line feature extraction method
Author(s) -
Lee Seung Hwan,
Oh Jung Hyun,
An Ye Chan
Publication year - 2021
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/ell2.12268
Subject(s) - ransac , feature extraction , lidar , feature (linguistics) , range (aeronautics) , artificial intelligence , line (geometry) , intensity (physics) , computer science , materials science , computer vision , optics , remote sensing , mathematics , geology , geometry , physics , linguistics , philosophy , composite material , image (mathematics)
This letter addresses a new range‐only measurement‐based glass line feature extraction method, which allows a low‐cost light detection and ranging (LiDAR) sensor to detect glass‐like objects without intensity and multi‐echo data. The principle that the emitted LiDAR ray incidence angle with respect to a glass surface is close to 0° is concerned. The geometric relationship between the sensor and glass objects is also considered for successful glass feature extraction. The extracted features are accumulated and reformulated for the generation of glass line features using the RANdom SAmple Consensus algorithm (RANSAC). Two experiments with different robot paths were conducted in a glass environment. The results showed that the proposed method accurately represented glass objects without any false‐positive glass feature.