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
Conditional Random Fields: Probabilistic Models for Segmenting and Labeling Sequence Data
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Using EM to Learn 3D Models of Indoor Environments with Mobile Robots
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Automatic Object Recognition within an Office Environment
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Discriminative Learning of Markov Random Fields for Segmentation of 3D Scan Data
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Cognitive maps for mobile robots-an object based approach
Robotics and Autonomous Systems
Supervised semantic labeling of places using information extracted from sensor data
Robotics and Autonomous Systems
Towards semantic maps for mobile robots
Robotics and Autonomous Systems
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
Instance-based AMN classification for improved object recognition in 2D and 3D laser range data
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Fast point feature histograms (FPFH) for 3D registration
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
Probabilistic multi-level maps from LIDAR data
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
Online semantic mapping of urban environments
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
Towards geometric mapping for semi-autonomous mobile robots
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
SAFECOMP'12 Proceedings of the 2012 international conference on Computer Safety, Reliability, and Security
Triangulation-Based plane extraction for 3d point clouds
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
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We report on our experiences regarding the acquisition of hybrid Semantic 3D Object Maps for indoor household environments, in particular kitchens, out of sensed 3D point cloud data. Our proposed approach includes a processing pipeline, including geometric mapping and learning, for processing large input datasets and for extracting relevant objects useful for a personal robotic assistant to perform complex manipulation tasks. The type of objects modeled are objects which perform utilitarian functions in the environment such as kitchen appliances, cupboards, tables, and drawers. The resulted model is accurate enough to use it in physics-based simulations, where doors of 3D containers can be opened based on their hinge position. The resulted map is represented as a hybrid concept and is comprised of both the hierarchically classified objects and triangular meshes used for collision avoidance in manipulation routines.