IEPF Line Extraction Algorithm

IEPF (Iterative End Point Fit) Line Extraction

Simple program to implement IEPF line extraction in Python

The algorithm will produce N line function:

Dependencies

• Python 2.7
• Matplotlib

Demo Program

• Red dot is N point which produced by simple line function with additional noise. Normally this point represent sensor reading like sonar, lidar, or depth camera
• Blue line is estimate line which produced by IEPF algorithm

References

• Nguyen, Viet, et al. "A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics." Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on. IEEE, 2005.
• Einsele, Tobias. "Real-time self-localization in unknown indoor environment using a panorama laser range finder." Intelligent Robots and Systems, 1997. IROS'97., Proceedings of the 1997 IEEE/RSJ International Conference on. Vol. 2. IEEE, 1997.
• Lv, Jixin, et al. "Straight line segments extraction and ekf-slam in indoor environment." Journal of Automation and Control Engineering 2.3 (2014).