Feature extraction from 2D laser range data for indoor navigation of aerial robot

摘要

In this paper several algorithms of segmentation are presented and a fast and information-lossless method of segmentation and feature extraction is discussed. Different methods are compared using the real data collected from the 2D laser range finder in the laboratory. The feature extraction here uses only line segments to express the environment. A 3D map is generated, simulating the flight of aerial robot.