Model-based object recognition from 3D laser data

Authors:
Martin Günther;Thomas Wiemann;Sven Albrecht;Joachim Hertzberg
Affiliations:
University of Osnabrück, Osnabrück, Germany;University of Osnabrück, Osnabrück, Germany;University of Osnabrück, Osnabrück, Germany;University of Osnabrück, Osnabrück, Germany
Venue:
KI'11 Proceedings of the 34th Annual German conference on Advances in artificial intelligence
Year:
2011

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Abstract

This paper presents a method for recognizing objects in 3D point clouds. Based on a structural model of these objects, we generate hypotheses for the location and 6DoF pose of these models and verify them by matching a CAD model of the object into the point cloud. Our method only needs a CAD model of each object class; no previous training is required.