ICRA 2011 Paper Abstract


Paper WeP204.6

Zhuang, Yan (Dalian University of Technology), Li, Yunhui (College of Control Science and Engineering, Dalian University of), Wang, Wei (College of Control Science and Engineering, Dalian University of)

Robust Indoor Scene Recognition Based on 3D Laser Scanning and Bearing Angle Image

Scheduled for presentation during the Regular Sessions "Recognition II" (WeP204), Wednesday, May 11, 2011, 16:40−16:55, 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


Robust scene recognition serves as an essential task for robots to work within a complex dynamic environment. Considering vision device’s limited adaptability in the dark environment, a 3D-laser-based scene recognition approach that extracts and matches SIFT features from Bearing Angle images is proposed, which makes it possible to make full use of both global metric information and local scale-invariant features. This approach can not only cope with irregular disturbances of dynamic objects, but also tackle obvious changes of observation location robustly in a semi-structured environment. An largescale indoor environment with more than 30 offices is selected as the real-world scenes to test the performance of the proposed approach.



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