Real-time and scalable incremental segmentation on dense SLAM

IEEE International Conference on Intelligent Robots and Systems

Volumn 2015-December, Issue , 2015, Pages 4465-4472

  Tateno, Keisuke ^a,b   Tombari, Federico ^a,c   Navab, Nassir ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^b CANON INC   (Japan)

^c UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL EFFICIENCY; INTELLIGENT ROBOTS; ROBOTICS;

BENCHMARK DATASETS; GLOBAL MODELING; INDOOR ENVIRONMENT; MULTIPLE VIEWS; REAL-TIME SEGMENTATION; SIMULTANEOUS LOCALIZATION AND MAPPING; SLAM ALGORITHM; STATE OF THE ART;

INDOOR POSITIONING SYSTEMS;

EID: 84958153786     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2015.7354011     Document Type: Conference Paper

References (23)

1. A. Aldoma, F. Tombari, J. Prankl, A. Richtsfeld, L. D. Stefano, and M. Vincze, "Multimodal cue integration through hypotheses verification for rgb-d object recognition and 6dof pose estimation, " in Proc. Int. Conf. on Robotics and Automation (ICRA), 2013.
2. J. Kenney, T. Buckley, and O. Brock, "Interactive segmentation for manipulation in unstructured environments, " in Proc. Int. Conf. on Robotics and Automation (ICRA), 2009.
3. T. Mörwald, M. Zillich, and M. Vincze, "Edge tracking of textured objects with a recursive particle filter, " in Proceedings of the Graphicon, 2009.
4. A. Karpathy, S. Miller, and L. Fei-Fei, "Object discovery in 3D scenes via shape analysis, " in Proc. Int. Conf. on Robotics and Automation (ICRA), 2013.
5. A. Uckermann, R. Haschke, and H. Ritter, "Realtime 3D segmentation for human-robot interaction, " 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2136-2143, 2013.
6. A. Uckermann, C. Elbrechter, R. Haschke, and H. Ritter, "3D scene segmentation for autonomous robot grasping, " 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1734-1740, oct 2012.
7. A. Pieropan and H. Kjellstrom, "Unsupervised object exploration using context, " Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on, 2014.
8. A. Abramov, K. Pauwels, J. Papon, F. Worgotter, and B. Dellen, "Depth-supported real-time video segmentation with the kinect-youtube, " in Applications of Computer Vision (WACV), 2012 IEEE Workshop on, 2012.
9. R. A. Newcombe, A. J. Davison, S. Izadi, P. Kohli, O. Hilliges, J. Shotton, D. Molyneaux, S. Hodges, D. Kim, and A. Fitzgibbon, "KinectFusion: Real-time dense surface mapping and tracking, " 10th IEEE International Symposium on Mixed and Augmented Reality, pp. 127-136, oct 2011.
10. T. Whelan, M. Kaess, H. Johannsson, M. Fallon, J. J. Leonard, and J. Mcdonald, "Real-time large scale dense RGB-D SLAM with volumetric fusion, " Intl. J. of Robotics Research, IJRR, 2014.
11. P. Henry, M. Krainin, E. Herbst, X. Ren, and D. Fox, "RGB-D Mapping : Using Depth Cameras for Dense 3D Modeling of Indoor Environments, " The International Journal of Robotics Research, vol. 31, pp. 647-663, 2012.
12. C. Kerl, J. Sturm, and D. Cremers, "Dense visual SLAM for RGB-D cameras, " 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2100-2106, nov 2013.
13. P. F. Felzenszwalb and D. P. Huttenlocher, "Efficient Graph-Based Image Segmentation, " International Journal of Computer Vision, vol. 59, no. 2, pp. 167-181, sep 2004.
14. A. Golovinskiy and T. Funkhouser, "Min-cut based segmentation of point clouds, " in IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops 2009, 2009, pp. 39-46.
15. T. Rabbani, F. A. van den Heuvel, and G. Vosselman, "Segmentation of point clouds using smoothness constraint, " in International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences-Commission V Symposium 'Image Engineering and Vision Metrology', vol. 36, 2006, pp. 248-253.
16. J. Strom, A. Richardson, and E. Olson, "Graph-based segmentation for colored 3D laser point clouds, " in Proc. Int. Conf. on Intelligent Robots and Systems (IROS'10), 2010, pp. 2131-2136.
17. R. Finman, T. Whelan, M. Kaess, and J. J. Leonard, "Efficient Incremental Map Segmentation in Dense RGB-D Maps, " in Proc. Int. Conf. on Robotics and Automation (ICRA), 2014, pp. 5488-5494.
18. R. Salas-Moreno and B. Glocken, "Dense planar SLAM, " in IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2014, pp. 157-164.
19. M. Keller, D. Lefloch, M. Lambers, S. Izadi, T. Weyrich, and A. Kolb, "Real-Time 3D Reconstruction in Dynamic Scenes Using Point-Based Fusion, " in International Conference on 3D Vision (3DV). Ieee, 2013, pp. 1-8.
20. C. Tomasi and R. Manduchi, "Bilateral filtering for gray and color images, " in Sixth International Conference on Computer Vision (ICCV), 1998.
21. C. V. Nguyen, S. Izadi, and D. Lovell, "Modeling kinect sensor noise for improved 3D reconstruction and tracking, " Proceedings-2nd Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012, pp. 524-530, 2012.
22. J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers, "A benchmark for the evaluation of RGB-D SLAM systems, " 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 573-580, oct 2012.
23. Z. Marton, R. Rusu, and M. Beetz, "On fast surface reconstruction methods for large and noisy point clouds, " in Proc. Int. Conf. on Robotics and Automation (ICRA), 2009.