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SEGMENTATION AND GEOMETRIC PRIMITIVES EXTRACTION FROM 2 D LASER RANGE DATA FOR MOBILE ROBOT APPLICATIONS

In this paper some algorithms for 2D segmentation, feature detection and fitting are presented. The features discussed here consist of three geometric primitives: lines, circles and ellipses. The segmentation process, whose objective is grouping segments that belong to the same object, is analysed using several kinds of algorithms. Results are presented using real data scanned by a laser range finder sensor.