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Efficient segmentation and surface classification of range images

: Arbeiter, Georg; Fuchs, Steffen; Hampp, Joshua; Bormann, Richard


Xi, Ning (General Chair) ; IEEE Robotics and Automation Society; Institute of Electrical and Electronics Engineers -IEEE-:
IEEE ICRA 2014, International Conference on Robotics and Automation : Technologies Enabling New Economic Growth. May 31 - June 7, 2014, Hong Kong, China. Workshop & Tutorials. Proceedings
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-3684-7
International Conference on Robotics and Automation (ICRA) <2014, Hong Kong>
European Commission EC
FP7; 287624; ACCOMPANY
Fraunhofer IPA ()
Care-O-bot®; mobile robot; mobiler Roboter; RGB-D; service robot; Serviceroboter; object segmentation; Mustererkennung; Roboter; Oberflächeneigenschaft

Derivation of geometric structures from point clouds is an important step towards scene understanding for mobile robots. In this paper, we present a novel method for segmentation and surface classification of ordered point clouds. Data from RGB-D cameras are used as input. Normal based region growing segments the cloud and point feature descriptors classify each segment. Not only planar segments can be described but also curved surfaces. In an evaluation on indoor scenes we show the performance of our approach as well as give a comparison to state of the art methods.