DocumentCode
250516
Title
Toward online 3-D object segmentation and mapping
Author
Herbst, Evan ; Henry, Peter ; Fox, D.
Author_Institution
Dept. of Comput. Sci. & Eng., Univ. of Washington, Seattle, WA, USA
fYear
2014
fDate
May 31 2014-June 7 2014
Firstpage
3193
Lastpage
3200
Abstract
We build on recent fast and accurate 3-D reconstruction techniques to segment objects during scene reconstruction. We take object outline information from change detection to build 3-D models of rigid objects and represent the scene as static and dynamic components. Object models are updated online during mapping, and can integrate segmentation information from sources other than change detection.
Keywords
image reconstruction; image segmentation; object detection; robot vision; service robots; 3D reconstruction techniques; 3D rigid object models; change detection; object outline information; online 3D object mapping; online 3D object segmentation; scene reconstruction; Cameras; Change detection algorithms; Color; Motion segmentation; Simultaneous localization and mapping; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location
Hong Kong
Type
conf
DOI
10.1109/ICRA.2014.6907318
Filename
6907318
Link To Document