DYNAMIC REAL-TIME REDUCTION OF MAPPED FEATURES IN A 3D POINT CLOUD

Marko Reimer; Bernardo Wagner

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Paper

DYNAMIC REAL-TIME REDUCTION OF MAPPED FEATURES IN A 3D POINT CLOUD

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 363-369, 2007 , Angers, France

Authors: Marko Reimer and Bernardo Wagner

Affiliation: Institute for Systems Engineering, Leibniz University Hanover, Germany

Keyword(s): 3D perception, real-time processing, data reduction.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper presents a method to reduce the data collected by a 3D laser range sensor. The complete point cloud consisting of several thousand points is hard to process on-line and in real-time on a robot. Similar to navigation tasks, the reduction of these points to a meaningful set is needed for further processes of object recognition. This method combines the data from a 3D laser sensor with an existing 2D map in order to reduce mapped feature points from the raw data. The main problem is the computational complexity of considering the different noise sources. The functionality of our approach is demonstrated by experiments for on-line reduction of the 3D data in indoor and outdoor environments.

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Paper citation in several formats:

Reimer, M. and Wagner, B. (2007). DYNAMIC REAL-TIME REDUCTION OF MAPPED FEATURES IN A 3D POINT CLOUD. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 363-369. DOI: 10.5220/0001638003630369

@conference{icinco07,
author={Marko Reimer. and Bernardo Wagner.},
title={DYNAMIC REAL-TIME REDUCTION OF MAPPED FEATURES IN A 3D POINT CLOUD},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2007},
pages={363-369},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001638003630369},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - DYNAMIC REAL-TIME REDUCTION OF MAPPED FEATURES IN A 3D POINT CLOUD
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Reimer, M.
AU - Wagner, B.
PY - 2007
SP - 363
EP - 369
DO - 10.5220/0001638003630369
PB - SciTePress