Title :
Segmentation and approximation of objects in pointclouds using superquadrics
Author :
Strand, Marcus ; Dillmann, Rüdiger
Author_Institution :
Div. Interactive Diagnosis- & Servicesystems (IDS), Res. Center for Inf. Technol. - FZI, Karlsruhe, Germany
Abstract :
The abstraction from raw pointclouds to high level representations is a necessity in real world robotic applications. This concerns the semantic description of household objects as well as the handling of complex objects (like grasping). This paper describes a method for the manual segmentation of objects from scenes and the automated approximation of objects with high level descriptors. For both tasks solutions based on superquadrics are presented.
Keywords :
approximation theory; image segmentation; manipulators; robot vision; complex objects handling; household objects semantic description; objects approximation; objects automated approximation; objects segmentation; superquadrics; Clouds; Engine cylinders; Intrusion detection; Layout; Nearest neighbor searches; Pattern recognition; Reverse engineering; Robotics and automation; Shape; Surface fitting;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5205044
