Abstract-Our goal is polygonal approximation of laser range data points obtained by a mobile robot. The proposed approach provides a precise estimation of the number of model components (line segments) and their initial parameters independent of their initial values. We use principles of perceptual grouping to evaluate the approximation quality obtained in each Expectation Maximization (EM) step. By evaluating EM approximation quality we are able to recognize a locally optimal solution, and modify the number of model components and their parameters. Consequently, EM can converge only to a globally optimal solution independent of the initial number of model components and their initial parameters.
In REF , an extension to EM is proposed for adapting the number of model components.
Polygonal approximation of laser range data based on perceptual grouping and EM
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Mathematics Computer Science