Title :
Fast scene analysis using image and range data
Author :
Taylor, Camillo J. ; Cowley, Anthony
Author_Institution :
Fac. of Comput. & Inf. Sci., Univ. of Pennsylvania, Philadelphia, PA, USA
Abstract :
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.
Keywords :
image colour analysis; image motion analysis; image segmentation; iterative methods; 3D point cloud; RANSAC based interpretation process; fast color segmentation scheme; fast scene analysis; Cameras; Color; Image color analysis; Image segmentation; Robots; Sensors; Three dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980326
