Extraction of Geometrical Features in 3D Environments for Service Robotic Applications

Puente Yusty, Paloma de la and Rodríguez-Losada González, Diego and López, Raul and Matía Espada, Fernando (2008). Extraction of Geometrical Features in 3D Environments for Service Robotic Applications. In: "3rd International Workshop on Hybrid Artificial Intelligence Systems. HAIS'08", 24/09/2008-26/09/2008, Burgos, España. ISBN 978-3-540-87655-7. pp. 441-450. https://doi.org/10.1007/978-3-540-87656-4_55.

Description

Title: Extraction of Geometrical Features in 3D Environments for Service Robotic Applications
Author/s:
  • Puente Yusty, Paloma de la
  • Rodríguez-Losada González, Diego
  • López, Raul
  • Matía Espada, Fernando
Item Type: Presentation at Congress or Conference (Article)
Event Title: 3rd International Workshop on Hybrid Artificial Intelligence Systems. HAIS'08
Event Dates: 24/09/2008-26/09/2008
Event Location: Burgos, España
Title of Book: Hybrid artificial intelligence systems : third international workshop, HAIS 2008, Burgos, Spain, September 24-26, 2008 : Proceedings
Date: 30 September 2008
ISBN: 978-3-540-87655-7
Subjects:
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Modeling environments with 3D feature based representations is a challenging issue in current mobile robotics. Fast and robust algorithms are required for applicability to navigation. We present an original and effective segmentation method that uses computer vision techniques and the residuals from plane fitting as measurements to generate a range image from 3D data acquired by a laser scanner. The extracted points of each region are converted into plane patches, spheres and cylinders by means of least-squares fitting.

More information

Item ID: 3873
DC Identifier: http://oa.upm.es/3873/
OAI Identifier: oai:oa.upm.es:3873
DOI: 10.1007/978-3-540-87656-4_55
Official URL: http://link.springer.com/chapter/10.1007/978-3-540-87656-4_55
Deposited by: Memoria Investigacion
Deposited on: 23 Jul 2010 09:26
Last Modified: 17 Jan 2017 08:34
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