The extraction of geometric models has long been of interest to the robotics community. Many interesting applications such as homography,plane estimation and ego-motion estimation demand the ability to fit geometric models onto noisy data. Additionally, these geometric models are often drivers of other algorithms for algorithms navigation, perception and 3D reconstructions creating an increased desire for [...]
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So far Paul Amayo has created 3 blog entries.
Abstract—This paper concerns the creation of efficient surface representations from laser point clouds. We produce a continuous, implicit, non-parametric representation with an update time that is constant. The algorithm places no restriction on the complexity of the underlying workspace surfaces and automatically prunes redundant data via an information theoretic criterion. This criterion makes the use [...]
Parsing Outdoor Scenes from Streamed 3D Laser Data Using Online Clustering and Incremental Belief Updates
Abstract - In this paper, we address the problem of continually parsing a stream of 3D point cloud data acquired from a laser sensor mounted on a road vehicle. We leverage an online star clustering algorithm coupled with an incre- mental belief update in an evolving undirected graphical model. The fusion of these techniques allows the [...]