Mathematical Problems in Engineering

Research Article

Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments

Road surface extraction.

(1) the LRF measurement.
(2) coordinate of the LRF measurement.
(3) The number of the LRF measurement points.
(4) Expected range of the road surface points
(5) for to
(6) if , then
(7) save as candidate for the road surface.
(8) angle of candidate for the road surface.
(9) The number of candidates for the road surface.
(10) end if
(11) end for
(12) for to
(13) if , then
(14) save as the road surface.
(15) end if
(16) end for
(17) return ()