Abstract
In this paper a system for extracting semantic information in indoor and outdoor environment from 3D laser scanner is presented. The largest objects (like walls, floor, ceiling, etc.) are recognized by constructing an RGB image based on normal vectors and applying a simple rule-based system. More sophisticated techniques are used to detect the remaining ones: H aar-like features — to classify small and irregular objects, and Cellular Neural Networks — to distinguish between different types of ground on which the robot is able to operate.
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Gnatowski, M., Siemiątkowska, B., Szklarski, J. (2010). Extraction of Semantic Information from the 3D Laser Range Finder. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_45
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_45
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