Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR

. 2018 May 29;18(6):1749. doi: 10.3390/s18061749

Algorithm 3: Obstacles extraction.

INPUT: the average height of line

h_{i j}

{\vec{V}}_{t_{i - 1}}

and

t_{i}

.
OUTPUT:

O L_{i} a n d R L_{i}

O L_{i} = R L_{i} = \emptyset

w h e n t_{i} > t_{0}

i f l e n_{i t} > l_{\min}

i f | h_{i j} | > ξ_{h}

i f D (S p_{i t}^{W}, {\vec{V}}_{t_{i - 1}}) > ξ_{i} o r D (E p_{i t}^{W}, {\vec{V}}_{t_{i - 1}}) > ξ_{i}

O L_{i} = O L_{i} \cup l_{i j}

06 end
07

R L_{i} = R L_{i} \cup l_{i j}

08 end
09

R L_{i} = R L_{i} \cup l_{i j}

10 end
11 end
return

O L_{i} a n d R L_{i}