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Quadtree-based polynomial polygon fitting

: Hampp, Joshua; Bormann, Richard

Preprint urn:nbn:de:0011-n-2723420 (1.8 MByte PDF)
MD5 Fingerprint: 63feefd6584342a59903e66a2a3c6fb8
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Erstellt am: 9.1.2014

Sugano, S. ; Institute of Electrical and Electronics Engineers -IEEE-; IEEE Robotics and Automation Society; IEEE Industrial Electronics Society:
IROS 2013. New Horizon. Conference Digest : IEEE/RSJ International Conference on Intelligent Robots and Systems; Tokyo, Japan, November 3-8, 2013
Piscataway, NJ: IEEE, 2013
ISBN: 978-1-4673-6357-0 (CD-ROM)
ISBN: 978-1-4673-6358-7
International Conference on Intelligent Robots and Systems (IROS) <2013, Tokyo>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
service robot; mobile robot; object recognition; 3D mapping; surface reconstruction; Roboter; Bildverarbeitung

In this paper, we present a novel method for surface reconstruction with a low execution time for segmenting and representing scattered scenes accurately. The surfaces are described in a memory-efficient fashion as polynomial functions and polygons. Segmentation and parameter determination is done in one pass by using a quadtree on ordered point clouds, which results in a complexity of O(log n).
This paper includes an evaluation with respect to reconstruction accuracy, segmentation precision, execution time and compression ratio of everyday indoor scenes. Our surface reconstruction algorithm outperforms comparable approaches with respect to execution time and accuracy. More importantly, the new technique handles curved shapes accurately and enables complex tasks like 3D mapping for mobile robots in an unknown environment.