3D topological reconstruction based on Hough transform and growing neural gas for informationally structured space

This paper proposes a method of 3D topological reconstruction for informationally structured space including sensor networks and robot partners for co-existing with people. The informationally structured space realizes the quick update and access of valuable and useful information for both people and robots on real and virtual environments. In this paper, we use distance information and color information measured by 3D distance image sensor and CMOS camera for 3D topological reconstruction. First, we propose an extraction method of objects from the background image based on Hough transform as preprocessing. Next, we propose a method of 3D topological reconstruction based on growing neural gas to construct informationally structured space. Finally, we show experimental results of the proposed method and discuss the effectiveness of the proposed method.