NURBS Curve Extraction from 2D Laser Sensor Data and 3D Simulated Data

Rui Jun Yan; Jing Wu; Ji Yeong Lee; Chang Soo Han

doi:10.4028/www.scientific.net/AMM.548-549.1124

Paper Titles

The Application Research of Data Mining in Research-Oriented Learning Platform Building
p.1098

Improved Relative Term Frequency Probability Feature Selection for Document Categorization
p.1102

Facial Expression Recognition Based on the Texture Features of Global Principal Component and Local Boundary
p.1110

Mixed Expression Recognition & Analysis Based on Compressed Sense and Subjection Degree
p.1118

NURBS Curve Extraction from 2D Laser Sensor Data and 3D Simulated Data
p.1124

A New Method for Processing Symbolization Time Series
p.1130

Comparison Study of the Clustering Analysis Methods in the Load Time-Variation Research
p.1135

Study on Wavelet De-Noising of High Frequency Current Signal for Rotor Position Self-Sensing of PMSM
p.1139

The Use of OpenMP Parallel Standards in Massive Data Delaunay Triangulation
p.1143

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 548-549NURBS Curve Extraction from 2D Laser Sensor Data...

NURBS Curve Extraction from 2D Laser Sensor Data and 3D Simulated Data

Abstract:

This paper proposes a non-uniform rational B-spline (NURBS) curve extraction algorithm from 2D laser sensor data and 3D simulated data. In robot localization and mapping application, the raw sensor data cannot be stored due to its need of large storage space. However, only a small number of control points of NURBS curve are needed to be stored to recover the geometrical feature of raw data. To comprise the number of control points and accuracy of the extracted curve, global approximation method is adopted to minimize the error between the raw data and the extracted curve. In extraction process, all the weights are set as one firstly. After find the control points, a weight calculation method is developed to update the weight values. The NURBS curve with new weight has smaller error than with original weights. Finally, NURBS curve extraction results from real 2D laser sensor data and 3D simulated data are shown to check the feasibility of proposed algorithms.