Overview
- Recent research on Semantic 3D Object Models as a novel representation of the robot’s operating environment
- Applies Semantic 3D Object Mapping to Everyday Manipulation in Human Living Environments
- Displays how these models can be automatically acquired from dense 3D range data
Part of the book series: Springer Tracts in Advanced Robotics (STAR)
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Table of contents (13 chapters)
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Semantic 3D Object Mapping Kernel 15
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Mapping of Indoor Environments
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Applications
Keywords
About this book
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks.
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The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as a frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://pointclouds.org.
Authors and Affiliations
Bibliographic Information
Book Title: Semantic 3D Object Maps for Everyday Robot Manipulation
Authors: Radu Bogdan Rusu
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-642-35479-3
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2013
Hardcover ISBN: 978-3-642-35478-6Published: 12 January 2013
Softcover ISBN: 978-3-642-42738-1Published: 25 June 2015
eBook ISBN: 978-3-642-35479-3Published: 13 January 2013
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXIII, 225
Topics: Robotics and Automation, Artificial Intelligence, Image Processing and Computer Vision, Signal, Image and Speech Processing
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