NDLI: A method to segment a 3D surface point cloud for selective sensing in robotic exploration

Content Provider	IEEE Xplore Digital Library
Author	Curtis, P. Payeur, P.
Copyright Year	2010
Description	Author affiliation: School of Information Technology and Engineering, University of Ottawa, Ottawa, ON, Canada (Curtis, P.; Payeur, P.)
Abstract	Autonomous robotic exploration in a 3D environment requires the acquisition of 3D data to create a consistent internal model of the environment from which objects can be recognized for the robot to interact with. As the acquisition of 3D data with stereo vision or a laser range finder can be a relatively long process, selective sensing is desired to optimize the amount of data collected to accurately represent the environment in a minimal amount of time. In order to perform selective sensing, a coarse acquisition of the environment first needs to take place. Regions of interest, such as edges and other boundaries, can then be identified so that an acquisition with higher spatial resolution can occur over bounded regions. For that purpose a segmentation method of the coarse data is proposed so that regions can be efficiently distinguished from each other. The method takes a raw 3D surface profile point cloud of varying point densities, organizes it into a mesh, and then segments the surfaces present in this point cloud, producing a segmented mesh, as well as an octree of labeled voxels corresponding to the segmentation. This mesh and octree may then be used for sensory selection to drive a robot exploration task. The method is demonstrated on actual datasets collected in a laboratory environment.
Starting Page	1
Ending Page	6
File Size	263677
Page Count	6
File Format	PDF
ISBN	9781424471478
e-ISBN	9781424471485
DOI	10.1109/ROSE.2010.5675289
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Three dimensional displays Octrees Image edge detection Merging robotic exploration segmentation selective sensing 3D modeling octrees
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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