TY - GEN
T1 - Sequential scene parsing using range and intensity information
AU - Brucker, Manuel
AU - Léonard, Simon
AU - Bodenmüller, Tim
AU - Hager, Gregory D.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - This paper describes an extension of the sequential scene analysis system presented by Hager and Wegbreit [12]. In contrast to the original system, which was limited to scenes consisting of geometric primitives, such as spheres, cuboids, and cylinders computed from range data, the extended system is capable of dealing with arbitrarily shaped objects computed from range and intensity images. An object model composed of a triangulated geometry and intensity-based SURF features is introduced. The integration of prior object models into the sequential scene parsing framework is described. The extended system is evaluated with respect to pose estimation and its ability to handle complex scene sequences. It is shown that the new object models enable accurate pose estimation and reliable recognition even in highly cluttered scenes.
AB - This paper describes an extension of the sequential scene analysis system presented by Hager and Wegbreit [12]. In contrast to the original system, which was limited to scenes consisting of geometric primitives, such as spheres, cuboids, and cylinders computed from range data, the extended system is capable of dealing with arbitrarily shaped objects computed from range and intensity images. An object model composed of a triangulated geometry and intensity-based SURF features is introduced. The integration of prior object models into the sequential scene parsing framework is described. The extended system is evaluated with respect to pose estimation and its ability to handle complex scene sequences. It is shown that the new object models enable accurate pose estimation and reliable recognition even in highly cluttered scenes.
UR - https://www.scopus.com/pages/publications/84864420168
UR - https://www.scopus.com/pages/publications/84864420168#tab=citedBy
U2 - 10.1109/ICRA.2012.6224978
DO - 10.1109/ICRA.2012.6224978
M3 - Conference contribution
AN - SCOPUS:84864420168
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5417
EP - 5424
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -