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Brucker, Manuel und Leonard, Simon und Bodenmüller, Tim und 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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Kurzfassung
This paper describes an extension of the sequential scene analysis system presented by Hager and Wegbreit [12]. 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.
| elib-URL des Eintrags: | https://elib.dlr.de/75221/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||
| Titel: | Sequential Scene Parsing Using Range and Intensity Information | ||||||||||||||||||||
| Autoren: |
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| Datum: | 2012 | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | akzeptierter Beitrag | ||||||||||||||||||||
| Stichwörter: | Computer Vision for Robotics and Automation, Recognition | ||||||||||||||||||||
| Veranstaltungstitel: | IEEE International Conference on Robotics and Automation | ||||||||||||||||||||
| Veranstaltungsort: | St. Paul, USA | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||
| HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt) | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||
| Hinterlegt von: | Brucker, Manuel | ||||||||||||||||||||
| Hinterlegt am: | 20 Mär 2012 08:54 | ||||||||||||||||||||
| Letzte Änderung: | 29 Mär 2023 00:15 |
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- Sequential Scene Parsing Using Range and Intensity Information. (deposited 20 Mär 2012 08:54) [Gegenwärtig angezeigt]
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