Mostafa Yaghobi

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This paper presents a novel algorithm for line extraction from 2D laser range finder which has excellent precision to determine of line boundary, while having efficient speed and low complexity. This algorithm is more robust in measurement noise and cluttered data and fit a line to a set of uncertain points via Hough transform and recursive split formalism.(More)
This paper proposes a modified split and merge algorithm for line extraction with high accuracy, efficient speed and low complexity. It is robust against measurement noises and demonstrates satisfactory results on different surfaces in determining line boundaries. The method is based on the least square equation to fit a line on a series of uncertain(More)
Proper performance of biped robots in various indoor environment conditions depends on reliable landmark detection and self-localization. Probabilistic approaches are among the most capable methods to present a real-time and inclusive solution for biped robot's localization. This paper focuses on the newly proposed odometry system implementing the kinematic(More)
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