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" Semantic 3D object maps for everyday robot manipulation "
Radu Bogdan Rusu.
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BL
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| Record Number
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747752
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b567703
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| Main Entry
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Radu Bogdan Rusu.
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| Title & Author
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Semantic 3D object maps for everyday robot manipulation\ Radu Bogdan Rusu.
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| Publication Statement
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Berlin ; New York : Springer, ©2013.
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| Series Statement
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Springer tracts in advanced robotics, 85.
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| ISBN
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3642354785
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: 3642354793
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: 9783642354786
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: 9783642354793
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| Contents
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Semantic 3D Object Mapping Kernel 15 --; 3D Map Representations --; Mapping System Architectures --; 3D Point Feature Representations --; From Partial to Complete Models --; Clustering and Segmentation --; Mapping of Indoor Environments --; Static Scene Interpretation --; Surface and Object Class Learning --; Parametric Shape Model Fitting --; Applications --; Table Cleaning in Dynamic Environments --; Identifying and Opening Doors --; Real-Time Semantic Maps from Stereo --; Conclusion.
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| Abstract
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The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://pointclouds.org.
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| Subject
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Autonomous robots.
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Robots -- Control systems.
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Semantic Web.
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| LC Classification
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TJ211.35R338 2013
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| Added Entry
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Radu Bogdan Rusu
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