Publication

Results on Range Image Segmentation for Service Robots

Roland Siegwart
2006
Conference Papers

Abstract

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets of 25 range images either obtained by simulation or acquired by a proprietary 3D laser scanner. The performance of the range image segmentation is measured in terms of an average segment classification ratio. Moreover, the speed of the method is measured to conclude on the suitability for service robot applications.

Official source

https://infoscience.epfl.ch/entities/publication/4478e22a-486a-455a-ab0b-3688cf1cd6be

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Roland Siegwart
2006
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/4478e22a-486a-455a-ab0b-3688cf1cd6be

About this result

Related concepts (24)

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Computer vision

Computer vision tasks include methods for , , and understanding digital images, and extraction of high-dimensional data from the real world in order to produce numerical or symbolic information, e.g. in the forms of decisions. Understanding in this context means the transformation of visual images (the input to the retina in the human analog) into descriptions of the world that make sense to thought processes and can elicit appropriate action.

Computer stereo vision

Computer stereo vision is the extraction of 3D information from digital images, such as those obtained by a CCD camera. By comparing information about a scene from two vantage points, 3D information can be extracted by examining the relative positions of objects in the two panels. This is similar to the biological process of stereopsis. In traditional stereo vision, two cameras, displaced horizontally from one another, are used to obtain two differing views on a scene, in a manner similar to human binocular vision.

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