Fast Range Image Segmentation for a Domestic Service Robot
نویسندگان
چکیده
In this paper we present a fast approach to range image segmentation. The segmentation results are intended to serve as input to the perception system of a domestic service robot. In the first step “ghost points” at depth discontinuities are identified. This is followed by extracting step and roof edges. Planar patches are detected with a focus on horizontal and vertical planar structures. Finally, the range data is labelled with the locally dominant features, which results in a label map. Our approach was tested on real range images recorded in a home-like office environment using a tilting laser range finder.
منابع مشابه
Fast Range Image Segmentation for Indoor 3d-slam
Real-time 3D localization and mapping is eventually needed in many service robotic applications. Toward a light and practical SLAM algorithm, we focus on feature extraction via segmentation of range images. Using horizontal and vertical traces of the range matrix, 2D observed polygons are considered for calculation of a one-dimensional measure of direction, called Bearing Angle (BA). BA is the ...
متن کاملFast Range Image Segmentation and Smoothing Using Approximate Surface Reconstruction and Region Growing
Decomposing sensory measurements into relevant parts is a fundamental prerequisite for solving complex tasks, e.g., in the field of mobile manipulation in domestic environments. In this paper, we present a fast approach to surface reconstruction in range images by means of approximate polygonal meshing. The obtained local surface information and neighborhoods are then used to 1) smooth the unde...
متن کاملFast 2.5D Mesh Segmentation to Approximately Convex Surfaces
—A range image segmentation approach is presented. A range image obtained by a 3D sensor is transformed to a 2.5D triangle mesh. This mesh is then segmented into approximately convex surfaces by an iterative procedure based on the incremental convex hull algorithm and region growing. The proposed approach is designed as a fast mid-level tool whose task is to provide suitable geometric primitive...
متن کاملRobust Range Data Segmentation using Geometric Primitives for Robotic Applications
This paper presents a data-driven approach for segmenting range data to enable a humanoid robot to perform interactive domestic tasks. Range data is segmented into geometric primitives (planes, spheres, cylinders and cones), allowing the robot to recognize many simple objects. The algorithm calculates initial segments using depth discontinuities, creases and changes in surface type, with subseq...
متن کاملمدلسازی صفحهای محیطهای داخلی با استفاده از تصاویر RGB-D
In robotic applications and especially 3D map generation of indoor environments, analyzing RGB-D images have become a key problem. The mapping problem is one of the most important problems in creating autonomous mobile robots. Autonomous mobile robots are used in mine excavation, rescue missions in collapsed buildings and even planets’ exploration. Furthermore, indoor mapping is beneficial in f...
متن کامل