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Local navigation map processing algorithm to identify indoor objects and generate motion trajectory for anthropomorphic robot

Author(s)
YANA KOSTELEY “Instrument-Making”research laboratory, National Research Tomsk State University, Lenin Avenue, 36, Tomsk, 634050, Russia
DMITRY ZHDANOV “Instrument-Making”research laboratory, National Research Tomsk State University, Lenin Avenue, 36, Tomsk, 634050, Russia
ARTEM BUREEV “Instrument-Making”research laboratory, National Research Tomsk State University, Lenin Avenue, 36, Tomsk, 634050, Russia
LIUDMILA KHOKHLOVA “Instrument-Making”research laboratory, National Research Tomsk State University, Lenin Avenue, 36, Tomsk, 634050, Russia
Abstract
The article describes an approach to the analysis of a local indoor navigation map derived from a lidar point cloud represented as a projection on a horizontal plane. The article analyzes the applicability of the graph theory and binary image processing methods for structuring and uniting the elements of a noisy and segmental local navigation map layout. On an initial map layout (walls, free space and internal environment objects), stand-alone interior elements are detected, and the points of wall borders are filtered and closed up. Mathematical morphology methods and shortest path and connected component separation algorithms are used to complete these tasks. The authors have developed a trajectory generation algorithm consisting of several turning and straight-line motion commands.
Publication Details
Page(s) 2646-2658
DOI DOI not available
Published Journal: Journal of Theoretical and Applied Information Technology, Volume: 98, Issue: 13, Year: 2020

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Keywords
Flood Fill, Lee Algorithm, Local Navigation Map, mathematical morphology, Connected Component Separation
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