Toward Generating Labeled Maps from Color and Range Data for Robot Navigation

Caroline Pantofaru, Ranjith Unnikrishnan, and Martial Hebert
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 1314 - 1321.


Download
  • Adobe portable document format (pdf) (428KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper addresses the problem of extracting information from range and color data acquired by a mobile robot in urban environments. Our approach extracts geometric structures from clouds of 3-D points and regions from the corresponding color images, labels them based on prior models of the objects expected in the environment - buildings in the current experiments - and combines the two sources of information into a composite labeled map. Ultimately, our goal is to generate maps that are segmented into objects of interest, each of which is labeled by its type, e.g., buildings, vegetation, etc. Such a map provides a higher-level representation of the environment than the geometric maps normally used for mobile robot navigation. The techniques presented here are a step toward the automatic construction of such labeled maps.

Notes
Sponsor: DARPA
Grant ID: NBCH1020014
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): 3D Computer Vision Group
Associated Project(s): MARS2020
Number of pages: 8

Text Reference
Caroline Pantofaru, Ranjith Unnikrishnan, and Martial Hebert, "Toward Generating Labeled Maps from Color and Range Data for Robot Navigation," Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 1314 - 1321.

BibTeX Reference
@inproceedings{Pantofaru_2003_4580,
   author = "Caroline Pantofaru and Ranjith Unnikrishnan and Martial Hebert",
   title = "Toward Generating Labeled Maps from Color and Range Data for Robot Navigation",
   booktitle = "Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
   pages = "1314 - 1321",
   month = "October",
   year = "2003",
   volume = "2",
}