ICRA 2011 Paper Abstract


Paper WeA104.2

Steder, Bastian (University of Freiburg), Rusu, Radu Bogdan (Willow Garage, Inc), Konolige, Kurt (Willow Garage), Burgard, Wolfram (University of Freiburg)

Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries

Scheduled for presentation during the Regular Sessions "Range Sensing I" (WeA104), Wednesday, May 11, 2011, 08:35−08:50, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Recognition, Range Sensing, Personal Robots


In this paper we address the topic of feature extraction in 3D point cloud data for object recognition and pose identification. We present a novel interest keypoint extraction method that operates on range images generated from arbitrary 3D point clouds, which explicitly considers the borders of the objects identified by transitions from foreground to background. We furthermore present a feature descriptor that takes the same information into account. We have implemented our approach and present rigorous experiments in which we analyze the individual components with respect to their repeatability and matching capabilities and evaluate the usefulness for point feature based object detection methods.



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