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Real-time plane segmentation using RGB-D cameras (2011)
| Venue: | In Proc. of the 15th RoboCup Int. Symp |
| Citations: | 29 - 11 self |
BibTeX
@INPROCEEDINGS{Holz11real-timeplane,
author = {Dirk Holz and Stefan Holzer and Radu Bogdan Rusu and Sven Behnke},
title = {Real-time plane segmentation using RGB-D cameras},
booktitle = {In Proc. of the 15th RoboCup Int. Symp},
year = {2011}
}
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Abstract
Abstract. Real-time 3D perception of the surrounding environment is a crucial precondition for the reliable and safe application of mobile service robots in domestic environments. Using a RGB-D camera, we present a system for acquiring and processing 3D (semantic) information at frame rates of up to 30Hz that allows a mobile robot to reliably detect obstacles and segment graspable objects and supporting surfaces as well as the overall scene geometry. Using integral images, we compute local surface normals. The points are then clustered, segmented, and classified in both normal space and spherical coordinates. The system is tested in different setups in a real household environment. The results show that the system is capable of reliably detecting obstacles at high frame rates, even in case of obstacles that move fast or do not considerably stick out of the ground. The segmentation of all planes in the 3D data even allows for correcting characteristic measurement errors and for reconstructing the original scene geometry in far ranges. 1
Keyphrases
rgb-d camera real-time plane segmentation normal space domestic environment integral image mobile robot detect obstacle real household environment local surface normal mobile service robot different setup safe application crucial precondition frame rate original scene geometry spherical coordinate segment graspable object high frame rate characteristic measurement error overall scene geometry
