Sequential scene parsing using range and intensity information

Manuel Brucker, Simon Léonard, Tim Bodenmüller, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5417-5424
Number of pages8
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Brucker, M., Léonard, S., Bodenmüller, T., & Hager, G. D. (2012). Sequential scene parsing using range and intensity information. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 5417-5424). [6224978] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224978