Sequential Scene Parsing Using Range and Intensity Information
Brucker, Manuel and Leonard, Simon and Bodenmüller, Tim and Hager, Gregory D (2012) Sequential Scene Parsing Using Range and Intensity Information. IEEE International Conference on Robotics and Automation, 14.-18. May 2012, St. Paul, USA.
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This paper describes an extension of the sequential scene analysis system presented by Hager and Wegbreit . In contrast to the original system, which was limited to scenes consisting of geometric primitives, such as spheres, cuboids, and cylinders computed from range data, the extended system is capable of dealing with arbitrarily shaped objects computed from range and intensity images. An object model composed of a triangulated geometry and intensity-based SURF features is introduced. The integration of prior object models into the sequential scene parsing framework is described. The extended system is evaluated with respect to pose estimation and its ability to handle complex scene sequences. It is shown that the new object models enable accurate pose estimation and reliable recognition even in highly cluttered scenes.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||Sequential Scene Parsing Using Range and Intensity Information|
|Keywords:||Computer Vision for Robotics and Automation, Recognition|
|Event Title:||IEEE International Conference on Robotics and Automation|
|Event Location:||St. Paul, USA|
|Event Type:||international Conference|
|Event Dates:||14.-18. May 2012|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||Space|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||W - Weiterentwicklung Robotik - Telerobotik und Autonomie|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Manuel Brucker|
|Deposited On:||20 Mar 2012 08:54|
|Last Modified:||04 Jul 2013 17:49|
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