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
fDate :
May 31 2014-June 7 2014
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;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907318
