Semantic 3D Object Maps for Everyday Robot Manipulation

✍ Scribed by Radu Bogdan Rusu (auth.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 2013
• Tongue: English
• Leaves: 234
• Series: Springer Tracts in Advanced Robotics 85
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Front Matter....Pages 1-19
Introduction....Pages 1-11
Front Matter....Pages 13-13
3D Map Representations....Pages 15-25
Mapping System Architectures....Pages 27-31
3D Point Feature Representations....Pages 33-60
From Partial to Complete Models....Pages 61-74
Clustering and Segmentation....Pages 75-85
Front Matter....Pages 87-87
Static Scene Interpretation....Pages 89-108
Surface and Object Class Learning....Pages 109-136
Parametric Shape Model Fitting....Pages 137-146
Front Matter....Pages 147-147
Table Cleaning in Dynamic Environments....Pages 149-159
Identifying and Opening Doors....Pages 161-175
Real-Time Semantic Maps from Stereo....Pages 177-196
Conclusion....Pages 197-200
Back Matter....Pages 0--1

✦ Subjects

Robotics and Automation; Artificial Intelligence (incl. Robotics); Image Processing and Computer Vision; Signal, Image and Speech Processing