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Finding Organized Structures in 3-D Ladar Data

Nicolas Vandapel and Martial Hebert
Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 786 - 791, September, 2004

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Abstract

In this paper, we address the problem of finding organized thin structures in three-dimensional (3-D) data. Linear and planar structures segmentation received much attention but thin structures organized in complex patterns remain a challenge for segmentation algorithms. We are interested especially in the problems posed by repetitive and symmetric structures acquired with a laser range finder. The method relies on 3-D data projections along specific directions and 2-D histograms comparison. The sensitivity of the classification algorithm to the parameter settings is evaluated and a segmentation method proposed. We illustrate our approach with data from a concertina wire in terrain with vegetation. Keywords: laser, terrain classification, concertina wire, structure signature, symmetry

BibTeX Reference
@conference{Vandapel-2004-9016,
title = {Finding Organized Structures in 3-D Ladar Data},
author = {Nicolas Vandapel and Martial Hebert},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
keyword = {laser, terrain classification, concertina wire, structure signature, symmetry},
sponsor = {US Army Research Laboratory},
school = {Robotics Institute , Carnegie Mellon University},
month = {September},
year = {2004},
volume = {1},
pages = {786 - 791},
address = {Pittsburgh, PA},
}
2017-09-13T10:43:50+00:00