Semantic 3D Object Maps for Everyday Robot Manipulation

Name: Semantic 3D Object Maps for Everyday Robot Manipulation
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ISBN: 9783642427381

Radu Bogdan Rusu

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English

Springer-Verlag Berlin and Heidelberg GmbH & Co. K
25 June 2015

Electronics engineering; Automatic control engineering; Artificial intelligence; Computer vision; Signal processing

Series: Springer Tracts in Advanced Robotics

Summary
Details

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 a 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.

By: Radu Bogdan Rusu
Imprint: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Country of Publication: Germany
Edition: 2013 ed.
Volume: 85
Dimensions: Height: 235mm, Width: 155mm, Spine: 13mm
Weight: 3.869kg
ISBN: 9783642427381
ISBN 10: 3642427383
Series: Springer Tracts in Advanced Robotics
Pages: 225
Publication Date: 25 June 2015
Audience: Professional and scholarly , Undergraduate
Format: Paperback
Publisher's Status: Active