Fast Scene Analysis using Image and Range Data

摘要：

This paper presents a scheme which takes as input a 3D point cloud and an associated color image and parses the scene into a collection of salient planar surfaces. The scheme makes use of a fast color segmentation scheme to divide the color image into coherent regions and the groupings suggested by this procedure are used to inform and accelerate a RANSAC based interpretation process. Results on real data sets are presented.

作者: Camillo J. Taylor Anthony Cowley

作者单位: Computer and Information Science,University of Pennsylvania,Philadelphia PA,USA GRASP Laboratory,University of Pennsylvania,Philadelphia PA,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3562-3567

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）