Extraction of Geometrical Features in 3D Environments for Service Robotic Applications
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
Realtime segmentation of range data using continuous nearest neighbors
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Gradient operators for feature extraction and characterisation in range images
Pattern Recognition Letters
Using Dihedral Angles for Edge Extraction in Range Data
Journal of Mathematical Imaging and Vision
Multi-scale edge detection on range and intensity images
Pattern Recognition
Plane-based object categorisation using relational learning
Machine Learning
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This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets of 25 range images either obtained by simulation or acquired by a proprietary 3D laser scanner. The performance of the range image segmentation is measured in terms of an average segment classification ratio. Moreover, the speed of the method is measured to conclude on the suitability for service robot applications.