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Automatic classification of objects in 3D laser range scans

: Nüchter, A.; Surmann, H.; Hertzberg, J.

Fulltext (PDF; )

Groen, F.:
Intelligent autonomous systems 8 : Amsterdam, March 2004
Amsterdam: IOS Press, 2004
ISBN: 1-586-03414-6
Intelligent Autonomous Systems Conference (IAS) <8, 2004, Amsterdam>
Conference Paper, Electronic Publication
Fraunhofer AIS ( IAIS) ()

This paper presents a new method for object detection and classification in 3D laser range data that is acquired by an autonomous mobile robot. Off-screen rendered depth and reflectance images serve as an input for an Ada Boost learning procedure that constructs a cascade of classifiers. The performance of the classification is improved by combining both sensor modalities, which are independent from external light. The resulting approach for object classification is real-time capable and reliable. It combines recent results in computer vision with the emerging technology of 3D laser scanners.