DocumentCode
2700068
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
fYear
2011
fDate
9-13 May 2011
Firstpage
3562
Lastpage
3567
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980326
Filename
5980326
Link To Document