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Field of view dependent registration of point clouds and incremental extraction of table-tops using time-of-flight cameras

: Arbeiter, Georg; Hägele, Martin; Verl, Alexander

Postprint urn:nbn:de:0011-n-1833077 (1.8 MByte PDF)
MD5 Fingerprint: 89173a91999bbb5ed0b904c35a0699e2
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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
ISBN: 978-1-61284-380-3
6 S.
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.