Room-structure estimation in Manhattan-like environments from dense 2 1/2D range data using minumum entropy and histograms

2011 IEEE Workshop on Applications of Computer Vision, WACV 2011

Volumn , Issue , 2011, Pages 118-124

  Olufs, Sven ^a   Vincze, Markus ^a  

^a VIENNA UNIVERSITY OF TECHNOLOGY   (Austria)

Author keywords

[No Author keywords available]

Indexed keywords

2-D HISTOGRAMS; CAMERA ORIENTATION; CLUSTERING TECHNIQUES; MAJOR AXIS; MANHATTAN WORLD ASSUMPTION; MANHATTANS; MEAN SHIFT; ORTHOGONAL STRUCTURES; PARTICLE FILTER; QUAD TREES; RANGE DATA; REAL WORLD DATA; ROBUST ESTIMATION; STRUCTURE ESTIMATION; YAW ROTATION;

COMPUTER APPLICATIONS; COMPUTER VISION; ENTROPY; ESTIMATION; FLIGHT DYNAMICS; TARGET TRACKING;

GRAPHIC METHODS;

EID: 79952523103     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/WACV.2011.5711492     Document Type: Conference Paper

References (24)

1. Sven Olufs and Markus Vincze. An efficient area-based observation model for monte-carlo robot localization. In International Conference on Intelligent Robots and Systems IROS, St. Louis, USA, 2009.
2. D. Murray and J. J. Little. Using real-time stereo vision for mobile robot navigation. Autonomous Robots, 2(8):161-171, 2000. (Pubitemid 30594909)
3. Robert Sim and James J. Little. Autonomous vision-based exploration and mapping using hybrid maps and rao-blackwellised particle filters. In Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), Beijing, 2006.
4. A. Murarka and B. Kuipers. A stereo vision based mapping algorithm for detecting inclines, drop-offs, and obstacles for safe local navigation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-09)., 2009.
5. D. Burschka, Stephen Lee, and G. Hager. Stereo-based obstacle avoidance in indoor environments with active sensor re-calibration. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA), 2002.
6. Stefan May, Bjoen Werner, Hartmut Surmann, and Kai Pervoez. 3d time-of-flight cameras for mobile robotics. In International Conference on Intelligent Robots and Systems IROS 2006, Beijing, China, 2006.
7. R. I. Hartley A. and Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, ISBN: 0521540518, second edition, 2004.
8. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MIT Press, Cambridge MA, first edition, 2005.
9. Radu Bogdan Rusu, Aravind Sundaresan, Benoit Morisset, Kris Hauser, Motilal Agrawal, Jean-Claude Latombe, and Michael Beetz. Leaving flatland: Efficient real-time three-dimensional perception and motion planning. Journal of Field Robotics, Special Issue: Three-Dimensional Mapping, Part 1, 26(10):841-862, 2009.
10. James M Coughlan and A. L. Yuille. Manhattan world: orientation and outlier detection by bayesian inference. Neural Comput., 15(5):1063-1088, 2003. (Pubitemid 37049801)
11. Rudolph Triebel, Wolfram Burgard, and Frank Dellaert. Using hierarchical em to extract planes from 3d range scans. In In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA, 2005.
12. Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Andreas Holzbach, and Michael Beetz. Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments. In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
13. Narunas Vaskevicius, Andreas Birk, Kaustubh Pathak, and Jann Poppinga. Fast detection of polygons in 3d point clouds from noise-prone range sensors. In International Workshop on Safety, Security, and Rescue Robotics (SSRR), 2007.
14. Aniket Murarka, Mohan Sridharan, and Benjamin Kuipers. Detecting obstacles and drop-offs using stereo and motion cues for safe local motion. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-08)., 2008.
15. Yuri Boykov, Olga Veksler, and Ramin Zabih. Fast approximate energy minimization via graph cuts. IEEE Transactions on Pattern Analysis and Machine Intelligence, 23:2001, 1999.
16. Qian Yu, H. Araujo, and Hong Wang. Stereo-vision based real time obstacle detection for urban environments. In ICAR 2003âǍŤ11th Int. Conf. on Advanced Robotics, 2003.
17. David Gallup, Jan-Michael Frahm, Philippos Mordohai, Qingxiong Yang, and Marc Pollefeys. Real-time plane-sweeping stereo with multiple sweeping directions. In IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2009), 2007.
18. Sudipta N. Sinha, Drew Steedly, and Richard Szeliski. Piece-wise planar stereo for image-based rendering. In Twelfth IEEE International Conference on Computer Vision (ICCV 2009), 2009.
19. Yasutaka Furukawa, Brian Curless, Steven M. Seitz, and Richard Szeliski. Manhattan-world stereo. In IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2009), 2009.
20. J.M. Saez and F. Escolano. Entropy minimization slam using stereo vision. In Proceedings of the IEEE International Conference on Robotics and Automation, 2005.
21. Yizoung Cheng. Mean shift, mode seeking, and clustering. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 17(8), 1995.
22. J. Canny. A computational approach to edge detection. IEEE Trans. Pattern Analysis and Machine Intelligence, 8:679-714, 1986.
23. Martin Humenberger, Christian Zinner, and Wilfried Kubinger. Performance evaluation of a census-based stereo matching algorithm on embedded and multi-core hardware. In Proccedings of the International Symposium on Image and Signal Processing and Analysis, volume 6, 2009.
24. Nicolas Guilbert, Fredrik Kahl, Karl Astrom, Magnus Oskarsson, Martin Johansson, and Anders Heyden. Constraint enforcement in structure and motion applied to closing an open sequence. In Asian Conference on Computer Vision, 2004.