Building semantic object maps from sparse and noisy 3D data
Autor(en): | Gunther, M. Wiemann, T. Albrecht, S. Hertzberg, J. |
Stichwörter: | 3D point cloud; CAD models; Indoor environment; Kinect cameras; Mesh representation; Point cloud; Semantic map; Semantic objects, Computer aided design; Data processing; Intelligent robots; Three dimensional, Semantics | Erscheinungsdatum: | 2013 | Journal: | IEEE International Conference on Intelligent Robots and Systems | Startseite: | 2228 | Seitenende: | 2233 | Zusammenfassung: | We present an approach to create a semantic map of an indoor environment, based on a series of 3D point clouds captured by a mobile robot using a Kinect camera. The proposed system reconstructs the surfaces in the point clouds, detects different types of furniture and estimates their poses. The result is a consistent mesh representation of the environment enriched by CAD models corresponding to the detected pieces of furniture. We evaluate our approach on two datasets totaling over 800 frames directly on each individual frame. © 2013 IEEE. |
Beschreibung: | Conference of 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference Date: 3 November 2013 Through 8 November 2013; Conference Code:102443 |
ISBN: | 9781467363587 | ISSN: | 21530858 | DOI: | 10.1109/IROS.2013.6696668 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84893812493&doi=10.1109%2fIROS.2013.6696668&partnerID=40&md5=f7472f4d36e8f98e71b62f6abd146833 |
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geprüft am 17.05.2024