A certainty grid to object boundary algorithm
Tsung-Ming Tsai · 1994
An edge linking algorithm [Nevada 80] is modified for a mobile robot map representation application.Certainty grid 'images' are transformed to an appropriate set of object boundary curves.The latter are expressed as oriented piecewise linear segments.Image processing techniques, such as edge detection, thinning, curve tracing, and linear approximation are employed with various modifications.The most significant modification is a new method for linear curve approximation that is simple, accurate, and efficient.This method monitors chord and arc length and its excellent performance is demonstrated against similar algorithms.The certainty grid to object boundary algorithm is tested against simulated noisy certainty grid maps.