کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413532 680545 2008 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Towards 3D Point cloud based object maps for household environments
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Towards 3D Point cloud based object maps for household environments
چکیده انگلیسی

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.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 56, Issue 11, 30 November 2008, Pages 927–941
نویسندگان
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