A method for modeling a hazardous environment automatically, for real time task planning, using laser range images of multiple partial views of a single work space scene, is presented. Viewpoint invariant properties of differential- geometric shape descriptors like the mean curvature and the Gaussian curvature are utilized to classify a pre-smoothed laser range image into one of eight basic surface types. Connected components of these classified pixels, that satisfy specific planarity constraints, are clustered into planar regions. Selected image processing techniques are applied to the planar regions in order to extract their critical features, and to synthesize those polygons, with normals approximately orthogonal to the sensor view-axis. Detailed shape of the objects in the scene develop through view integration of multiple partial views of the objects in the scene.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Surface segmentation of laser range images for automated facility mapping


    Beteiligte:
    Pinheiro, Ralph J. (Autor:in) / Crane, Carl D. (Autor:in) / Tulenko, James S. (Autor:in) / Haddox, Dean (Autor:in)

    Kongress:

    Machine Vision Applications, Architectures, and Systems Integration V ; 1996 ; Boston,MA,United States


    Erschienen in:

    Erscheinungsdatum :

    1996-10-31





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Surface segmentation of laser range images for automated facility mapping [2908-17]

    Pinheiro, R. J. / Crane, C. D. / Tulenko, J. S. et al. | British Library Conference Proceedings | 1996


    SEGMENTATION OF LIDAR RANGE IMAGES

    SMOLYANSKIY NIKOLAI / OLDJA RYAN / CHEN KE et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Automated Segmentation and Registration of Dermatological Images

    Maglogiannis, I. | British Library Online Contents | 2003


    Segmentation of Range Images into Planar Regions

    Checchin, P. / Trassoudaine, L. / Alizon, J. et al. | British Library Conference Proceedings | 1997


    Automated segmentation of math-zones from document images

    Chowdhury, S.P. / Mandal, S. / Das, A.K. et al. | IEEE | 2003