NDLI: Automatic reconstruction of polygonal room models from 3D point clouds

Content Provider	IEEE Xplore Digital Library
Author	Kotthauser, T. Divband Soorati, M. Mertsching, B.
Copyright Year	2013
Description	Author affiliation: GET Lab., Univ. of Paderborn, Paderborn, Germany (Kotthauser, T.; Divband Soorati, M.; Mertsching, B.)
Abstract	The implementation of context-bound tasks at a higher level of abstraction often demands a semantic representation of the environment and the enclosed objects. A fundamental step towards the creation of rich semantic models is the abstraction of information from the raw and oftentimes unordered sensor data. In this work, we introduce a novel method for the abstraction of indoor environments as polyhedral models of interior rooms yielding to 3D floor plans. 3D laser scans that are acquired from a mobile robot serve as inputs for our method. First, the point cloud is segmented and polygonized. The final model is extracted by relating individual segments and determining the best configuration for the given room. With the help of a room model, we can easily discriminate between points that are located within the room and those that are part of the room boundaries. This facilitates succeeding tasks such as recognition of objects and furniture, detection of doorways as well as place recognition.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	661
Ending Page	667
File Size	1229490
Page Count	7
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739536
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Semantics Three-dimensional displays Solid modeling Clutter Robot sensing systems Layout
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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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