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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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Abstract

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.

Document Type:Conference or Workshop Item (Paper)
Title:Sequential Scene Parsing Using Range and Intensity Information
Authors:
AuthorsInstitution or Email of Authors
Brucker, ManuelManuel.Brucker@dlr.de
Leonard, SimonUNSPECIFIED
Bodenmüller, TimTim.Bodenmueller@dlr.de
Hager, Gregory DUNSPECIFIED
Date:2012
Refereed publication:Yes
Status:Published
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 (old)
HGF - Program:Space (old)
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 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Perception and Cognition
Deposited By: Manuel Brucker
Deposited On:04 Jul 2013 17:49
Last Modified:12 Dec 2013 22:05

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