Extraction of planar features from SwissRanger SR-3000 range images by a clustering method using normalized cuts

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 4034-4039

  Hegde, GuruPrasad M ^a   Ye, Cang ^a  

^a University of Arkansas at Little Rock ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CLUSTERING METHODS; FITTING ERROR; HORIZONTAL PLANES; HORIZONTAL SEGMENTS; INDOOR ENVIRONMENT; LEAST-SQUARE PLANE; NEW APPROACHES; NORMALIZED CUTS; PLANAR SEGMENTS; RANGE DATA; RANGE IMAGES; RANGE IMAGING; REGION GROWING; SURFACE NORMALS; SWISSRANGER;

COMMUNICATION CHANNELS (INFORMATION THEORY); FEATURE EXTRACTION; INTELLIGENT ROBOTS; ISOMERS;

THREE DIMENSIONAL;

EID: 76249095629     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5353952     Document Type: Conference Paper

References (15)

1. R. Unnikrishnan and M. Hebert, "Robust extraction of multiple structures from non-uniformly sampled data," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1322-1329.
2. R. Triebel, W. Burgard, and F. Dellaert, "Using hierarchical EM to extract planes from 3d range scans," in Proc. IEEE International Conference on Robotics and Automation, 2005, pp. 4437-4442.
3. V. Don and H. Maarten Uijt de, "Near real-time extraction of planar features from 3d flash-ladar video frames," in Proc. SPIE, vol. 6977 of Optical Pattern Recognition, pp. 69770N-69770N-12, 2008.
4. I. Stamos and P. E. Allen, "3-d model construction using range and image data," in Proc. IEEE International Conference on Computer Vision and Pattern Recognition, 2000, pp. 531-536.
5. A. Bab-Hadiashar and N. Gheissari, "Range image segmentation using surface selection criterion," IEEE Transactions on Image Processing, vol. 15, no. 7, pp. 2006-2018, 2006.
6. A. D. Sappa, "Automatic extraction of planar projections from panoramic range images," in Proc. 2nd International Symposium on 3D Data Processing, Visualization and Transmission, 2004, pp. 231-234.
7. T. Oggier, et al., "An all-solid-state optical range camera for 3D real-time imaging with sub-centimeter depth resolution," in Proc. SPIE, 2003, vol. 5249, pp. 534-545.
8. T. Oggier, B. Büttgen, F. Lustenberger, "SwissRanger SR3000 and first experiences based on miniaturized 3D-TOF Cameras," Swiss Center for Electronics and Microtechnology (CSEM) Technical Report, 2005.
9. C. Ye and J. Borenstein, "Characterization of a 2-D laser scanner for mobile robot obstacle negotiation," in Proc. IEEE International Conference on Robotics and Automation, 2002, pp. 2512-2518.
10. S. A. Guomundsson, H. Aanaes, and R. Larsen, "Environmental effects on measurement uncertainties of time-of-flight cameras," in International Symposium on Signals, Circuits and Systems, 2007, pp. 1-4.
11. K. Young Min, D. Chan, C. Theobalt, and S. Thrun, "Design and calibration of a multi-view TOF sensor fusion system," in Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 2008, pp. 1-7.
12. G. M. Hegde and C.Ye, "Swissranger sr-3000 range images enhancement by a singular value decomposition filter," in Proc. IEEE International Conference on Information and Automation, 2008, pp. 1626-1631.
13. S. Jianbo and J. Malik, "Normalized cuts and image segmentation," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 8, pp. 888-905, 2000.
14. K. Pulli, "Vision methods for an autonomous machine based on range imaging," Master's Thesis, University of Oulu.
15. http://www.cis.upenn.edu/~jshi/software/