Objects layout graph for 3D complex scenes

This paper shows how to extract information about the parts and their layout in a complex scene when a single range image is available. In the worst case, the complexity of the scene includes: no shape-restrictions, shades, occlusion, cluttering, contact, surfaces viewed in oblique angles and without textures. This work is a prerequisite before carrying out further robot interaction actions in the scene. The process is based on a novel 3D range data segmentation technique that avoids most restrictions imposed on other techniques. Making use of the 3D segmented parts, the method carries out an objects silhouette classification which allows us to perform a layout graph of the objects in the scene. A brief description of this method and experimental results are presented throughout the paper.