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Recently, various techniques which adopt Random Finite Set (RFS) based techniques for the solution of the fundamental, autonomous robotic, feature based, Simultaneous Localization and Mapping (SLAM) problem, have been proposed. In contrast to their vector based counterparts, these techniques offer the advantage that feature detection, as well as the usually considered spatial, statistics can be incorporated...
A novel ellipse detector based upon edge following is proposed in this paper. The detector models edge connectivity by line segments and exploits these line segments to construct a set of elliptical-arcs. Disconnected elliptical-arcs which describe the same ellipse are identified and grouped together by incrementally finding optimal pairings of elliptical-arcs. We extract hypothetical ellipses of...
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