Fast plane detection and polygonalization in noisy 3D range images

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 3378-3383

  Poppinga, Jann ^a   Vaskevicius, Narunas ^a   Birk, Andreas ^a   Pathak, Kaustubh ^a  

^a JACOBS UNIVERSITY BREMEN   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

3D DATA ACQUISITION; 3D POINT CLOUD; A-PLANE; MATHEMATICAL FORMULATION; NEIGHBORHOOD RELATION; PLANE DETECTION; PLANE FITTING; POLYGONALIZATIONS; RANGE CAMERAS; RANGE IMAGES; RESCUE ROBOT; ROBOCUP; SURFACE EXTRACTION; SWISSRANGER; TIME OF FLIGHT; TOTAL COMPUTATION TIME; TWO-POINT;

CLOUDS; INTELLIGENT ROBOTS; UNCERTAINTY ANALYSIS;

THREE DIMENSIONAL;

EID: 69549113512     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650729     Document Type: Conference Paper

References (22)

1. A. Nuechter, K. Lingemann, J. Hertzberg, and H. Surmann, "6d slam - mapping outdoor environments," in IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2006.
2. A. Howard, D. F. Wolf, and G. S. Sukhatme, "Towards 3d mapping in large urban environments," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, 2004.
3. H. Surmann, A. Nuechter, and J. Hertzberg, "An autonomous mobile robot with a 3d laser range finder for 3d exploration and digitalization of indoor environments," Robotics and Autonomous Systems, vol.45, no.3-4, pp. 181-198, 2003.
4. S. Thrun, D. F. D. Haehnel, M. Montemerlo, R. Triebel, W. Burgard, C. Baker, Z. Omohundro, S. Thayer, and W. Whittaker, "A system for volumetric robotic mapping of abandoned mines," in Proc. IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, 2003.
5. D. Hähnel, W. Burgard, and S. Thrun, "Learning compact 3D models of indoor and outdoor environments with a mobile robot," Robotics and Autonomous Systems, vol.44, no.1, pp. 15-27, 2003.
6. J. Davison and N. Kita, "3d simultaneous localisation and mapbuilding using active vision for a robot moving on undulating terrain," in IEEE Conference on Computer Vision and Pattern Recognition, Hawaii, Dec 8-14, 2001.
7. Y. Liu, R. Emery, D. Chakrabarti, W. Burgard, and S. Thrun, "Using em to learn 3d models of indoor environments with mobile robots," in 18th Conf. on Machine Learning, Williams College, 2001.
8. J. Klein and G. Zachmann, "Nice and fast implicit surfaces over noisy point clouds," in SIGGRAPH 2004, Sketches and Applications, 2004.
9. -, "Proximity graphs for defining surfaces over point clouds," in Eurographics Symposium on Point-Based Grahics (SPBG'04), 2004, pp. 131-138.
10. N. J. Mitra and A. Nguyen, "Estimating surface normals in noisy point cloud data," in Proceedings of the nineteenth annual symposium on Computational geometry. ACM Press, 2003, pp. 322-328.
11. N. Amenta, M. Bern, and M. Kamvysselis, "A new voronoi-based surface reconstruction algorithm," in Proceedings of the 25th annual conference on Computer graphics and interactive techniques. ACM Press, 1998, pp. 415-421.
12. C. L. Bajaj, F. Bernardini, and G. Xu, "Automatic reconstruction of surfaces and scalar fields from 3d scans," in Proceedings of the 22nd annual conference on Computer graphics and interactive techniques. ACM Press, 1995, pp. 109-118.
13. P. Alfeld, "Scattered data interpolation in three or more variables," in Mathematical methods in computer aided geometric design. Academic Press Professional, Inc., 1989, pp. 1-33.
14. D. Hähnel, W. Burgard, and S. Thrun, "Learning compact 3d models of indoor and outdoor environments with a mobile robot," Robotics and Autonomous Systems, vol.44, no.1, pp. 15-27, 2003.
15. O. Wulf and B. Wagner, "Fast 3d-scanning methods for laser measurement systems," in International Conference on Control Systems and Computer Science (CSCS14), 2003.
16. O. Wulf, C. Brenneke, and B. Wagner, "Colored 2d maps for robot navigation with 3d sensor data," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol.3. IEEE Press, 2004, pp. 2991-2996 vol.3.
17. R. Lange and P. Seitz, "Solid-state time-of-flight range camera," Quantum Electronics, IEEE Journal of, vol.37, no.3, pp. 390-397, 2001.
18. A. Birk and S. Carpin, "Rescue robotics - a crucial milestone on the road to autonomous systems," Advanced Robotics Journal, vol.20, no.5, pp. 595-695, 2006.
19. A. Birk, K. Pathak, S. Schwertfeger, and W. Chonnaparamutt, "The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations," in IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2006.
20. G. H. Golub and C. F. Van Loan, Matrix Computations (Johns Hopkins Studies in Mathematical Sciences). The Johns Hopkins University Press, October 1996.
21. D. S. Sivia, Data Analysis: A Bayesian Tutorial. Oxford University Press, 1996.
22. A. Birk, S. Markov, I. Delchev, and K. Pathak, "Autonomous rescue operations on the IUB Rugbot," in IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2006.