Extraction of Geometrical Features in 3D Environments for Service Robotic Applications

Authors:
Paloma Puente;Diego Rodríguez-Losada;Raul López;Fernando Matía
Affiliations:
Intelligent Control Group, Universidad Politécnica de Madrid, Madrid, Spain 28006;Intelligent Control Group, Universidad Politécnica de Madrid, Madrid, Spain 28006;Intelligent Control Group, Universidad Politécnica de Madrid, Madrid, Spain 28006;Intelligent Control Group, Universidad Politécnica de Madrid, Madrid, Spain 28006
Venue:
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
Year:
2008

Citing 5
Cited 0

An Experimental Comparison of Range Image Segmentation Algorithms

IEEE Transactions on Pattern Analysis and Machine Intelligence
Some Further Results of Experimental Comparison of Range Image Segmentation Algorithms

ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Range Image Segmentation by an Effective Jump-Diffusion Method

IEEE Transactions on Pattern Analysis and Machine Intelligence
Results on Range Image Segmentation for Service Robots

ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
6D SLAM—3D mapping outdoor environments: Research Articles

Journal of Field Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

Modeling environments with 3D feature based representations is a challenging issue in current mobile robotics. Fast and robust algorithms are required for applicability to navigation. We present an original and effective segmentation method that uses computer vision techniques and the residuals from plane fitting as measurements to generate a range image from 3D data acquired by a laser scanner. The extracted points of each region are converted into plane patches, spheres and cylinders by means of least-squares fitting.