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2013
Conference Paper
Titel

Quadtree-based polynomial polygon fitting

Abstract
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.
Author(s)
Hampp, Joshua
Bormann, Richard
Hauptwerk
IROS 2013. New Horizon. Conference Digest
Konferenz
International Conference on Intelligent Robots and Systems (IROS) 2013
DOI
10.1109/IROS.2013.6696959
File(s)
002.pdf (1.85 MB)
Language
English
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Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Tags
  • service robot

  • mobile robot

  • object recognition

  • 3D mapping

  • surface reconstruction

  • Roboter

  • Bildverarbeitung

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