Segmentation through Variable-Order Surface Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Surface reconstruction from unorganized points
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Efficient simplification of point-sampled surfaces
Proceedings of the conference on Visualization '02
Computing and Rendering Point Set Surfaces
IEEE Transactions on Visualization and Computer Graphics
Using EM to Learn 3D Models of Indoor Environments with Mobile Robots
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
A Fast and Efficient Projection-Based Approach for Surface Reconstruction
SIBGRAPI '02 Proceedings of the 15th Brazilian Symposium on Computer Graphics and Image Processing
A scene analysis system for the generation of 3-D models
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Registration and integration of textured 3-D data
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Computer Vision and Image Understanding
Robust moving least-squares fitting with sharp features
ACM SIGGRAPH 2005 Papers
Curvature Maps for Local Shape Comparison
SMI '05 Proceedings of the International Conference on Shape Modeling and Applications 2005
Fully Automatic Registration of 3D Point Clouds
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Cognitive maps for mobile robots-an object based approach
Robotics and Autonomous Systems
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Cached k-d tree search for ICP algorithms
3DIM '07 Proceedings of the Sixth International Conference on 3-D Digital Imaging and Modeling
Robots in the kitchen: Exploiting ubiquitous sensing and actuation
Robotics and Autonomous Systems
Generality and legibility in mobile manipulation
Autonomous Robots
Fast point feature histograms (FPFH) for 3D registration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
3D model selection from an internet database for robotic vision
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On fast surface reconstruction methods for large and noisy point clouds
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Leaving flatland: toward real-time 3D navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
KNOWROB: knowledge processing for autonomous personal robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Model-based and learned semantic object labeling in 3D point cloud maps of kitchen environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Towards performing everyday manipulation activities
Robotics and Autonomous Systems
Towards semantic navigation in mobile robotics
Graph transformations and model-driven engineering
Interactive object recognition using proprioceptive and auditory feedback
International Journal of Robotics Research
Semantic simulation engine for supervision of mobile robotic system
ICCCI'11 Proceedings of the Third international conference on Computational collective intelligence: technologies and applications - Volume Part II
Cognitive supervision and control of robotic inspection-intervention system
ICCCI'11 Proceedings of the Third international conference on Computational collective intelligence: technologies and applications - Volume Part II
Combined 2D-3D categorization and classification for multimodal perception systems
International Journal of Robotics Research
Model-based object recognition from 3D laser data
KI'11 Proceedings of the 34th Annual German conference on Advances in artificial intelligence
A probabilistic framework for learning kinematic models of articulated objects
Journal of Artificial Intelligence Research
Robust camera pose and scene structure analysis for service robotics
Robotics and Autonomous Systems
SAFECOMP'12 Proceedings of the 2012 international conference on Computer Safety, Reliability, and Security
Semantic structure from motion: a novel framework for joint object recognition and 3d reconstruction
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
3D semantic map-based shared control for smart wheelchair
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Contextually guided semantic labeling and search for three-dimensional point clouds
International Journal of Robotics Research
KnowRob: A knowledge processing infrastructure for cognition-enabled robots
International Journal of Robotics Research
UGV-MAV Collaboration for Augmented 2D Maps
Proceedings of Conference on Advances In Robotics
DHM'13 Proceedings of the 4th international conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics, and Risk Management: human body modeling and ergonomics - Volume Part II
Inferring robot goals from violations of semantic knowledge
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Three-dimensional point cloud plane segmentation in both structured and unstructured environments
Robotics and Autonomous Systems
Transactions on Computational Collective Intelligence IX
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This article investigates the problem of acquiring 3D object maps of indoor household environments, in particular kitchens. The objects modeled in these maps include cupboards, tables, drawers and shelves, which are of particular importance for a household robotic assistant. Our mapping approach is based on PCD (point cloud data) representations. Sophisticated interpretation methods operating on these representations eliminate noise and resample the data without deleting the important details, and interpret the improved point clouds in terms of rectangular planes and 3D geometric shapes. We detail the steps of our mapping approach and explain the key techniques that make it work. The novel techniques include statistical analysis, persistent histogram features estimation that allows for a consistent registration, resampling with additional robust fitting techniques, and segmentation of the environment into meaningful regions.