An algorithm for fitting 2-D data on the circle: Applications to mobile robotics

IEEE Signal Processing Letters

Volumn 15, Issue , 2008, Pages 127-130

  Nunez P ^a   Vazquez Martin, R ^b   Bandera, A ^b   Sandoval, F ^b  

^a UNIVERSITY OF EXTREMADURA   (Spain)

^b UNIVERSITY OF MÁLAGA   (Spain)

Author keywords

Circle fitting; Laser landmark acquisition; Mobile robotics

Indexed keywords

CARTESIAN COORDINATE; CIRCLE FITTING; ESTIMATED PARAMETER; LASER RANGE FINDERS; MOBILE ROBOTIC; MOBILE ROBOTICS; NAVIGATION TASKS; RANGE READINGS; VARIANCE MATRIX;

LASERS; ROBOTICS; ROBOTS; UNCERTAINTY ANALYSIS;

CURVE FITTING;

EID: 67650189523     PISSN: 10709908     EISSN: None     Source Type: Journal    
DOI: 10.1109/LSP.2007.912964     Document Type: Article

References (8)

1. D. Umbach and K. N. Jones, "A few methods for fitting circles to data," IEEE Trans. Instrum. Meas., vol. 52, no. 6, pp. 1881-1885, Jun. 2003.
2. A. Diosi and L. Kleeman, Uncertainty of Line Segments Extracted From Static Sick Pls Laser Scans, Tech. Rep. Dept. Elect. Comput. Syst. Eng., Monash Univ., Australia, 2003, MECSE-26-2003.
3. S. Zhang, L. Xie, and M. D. Adams, "Feature extraction for outdoor mobile robot navigation based on a modified Gauss-Newton optimization approach," Robot. Autonom. Syst., vol. 54, pp. 277-287, 2006.
4. M. G. Cox and H. M. Jones, "An algorithm for least-squares circle fitting to data with specified uncertainty ellipses," IMA J. Numer. Anal., vol. 9, pp. 285-298, 1989.
5. N. Chernov and C. Lesort, "Least squares fitting of circles," J. Math. Imag. Vis., vol. 23, pp. 239-251, 2005.
6. C. Shakarji, "Least-squares fitting algorithms of the NIST algorithm testing system," J. Res. Nat. Inst. Stand. Technol., vol. 103, pp. 633-641, 1998.
7. T. Bailey, "Mobile robot localization and mapping in extensive outdoor environment," Ph.D. dissertation, Univ. Sydney, Sydney, Australia, 2002.
8. P. Núñez, R. Vazquez-Martín, J. C. del Toro, A. Bandera, and F. Sandoval, "Feature extraction from laser scan data based on curvature estimation for mobile robotics," in Proc. IEEE Int. Conf. Robotics and Automation, 2006, pp. 1167-1172.