PublicaHier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.
Field of view dependent registration of point clouds and incremental extraction of table-tops using time-of-flight cameras
urn:nbn:de:0011-n-1833077 (1.8 MByte PDF)
MD5 Fingerprint: 89173a91999bbb5ed0b904c35a0699e2
© 2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Erstellt am: 25.10.2011
|IEEE Robotics and Automation Society; Shanghai Jiao Tong University:|
IEEE International Conference on Robotics and Automation, ICRA 2011. DVD : Better Robots, Better Life. May 9-13, 2011, Shanghai, China; Workshop Semantic Perception, Mapping and Exploration (SPME)
New York, NY: IEEE, 2011
|International Conference on Robotics and Automation (ICRA) <2011, Shanghai>|
Workshop Semantic Perception, Mapping and Exploration (SPME) <2011, Shanghai>
|Konferenzbeitrag, Elektronische Publikation |
|Fraunhofer IPA ()|
| time-of-flight; 3D environment reconstruction; 3D mapping; Teleoperation; Roboter|
Perception of the environment is crucial for many robot applications. Thus, geometric and semantic mapping using point cloud sensors is subject to many research activities. In this paper, an approach to incrementally register point clouds from time-of-flight cameras and create feature maps is presented. Frustum culling ICP, key frame based plane segmentation and aggregation of a feature map are presented and evaluated on the service robot Care-O-bot® 3. The focus is on table-top extraction for tele-operated robots.