In this article we describe an algorithm for constructing a compact representation of 3D laser range data. Our approach extracts a dictionary of local scans from the scene. The words of this dictionary are used to replace recurrent local 3D structures, which leads to a substantial compression of the entire point cloud. We optimize our model in terms of complexity and accuracy by minimizing the Bayesian information criterion (BIC). Experimental evaluations on large real-world datasets show that the described method allows robots to accurately reconstruct environments with as few as 70 words. Furthermore the experiments suggest that the proposed representation gives a richer semantic description than pure occupancy based representations. © 2012 Springer-Verlag GmbH Berlin Heidelberg.
3D environment modeling based on surface primitives / Michael, Ruhnke; Steder, Bastian; Grisetti, Giorgio; Burgard, Wolfram. - STAMPA. - 76:STAR(2012), pp. 281-300. - SPRINGER TRACTS IN ADVANCED ROBOTICS. [10.1007/978-3-642-25116-0_19].
3D environment modeling based on surface primitives
GRISETTI, GIORGIO;
2012
Abstract
In this article we describe an algorithm for constructing a compact representation of 3D laser range data. Our approach extracts a dictionary of local scans from the scene. The words of this dictionary are used to replace recurrent local 3D structures, which leads to a substantial compression of the entire point cloud. We optimize our model in terms of complexity and accuracy by minimizing the Bayesian information criterion (BIC). Experimental evaluations on large real-world datasets show that the described method allows robots to accurately reconstruct environments with as few as 70 words. Furthermore the experiments suggest that the proposed representation gives a richer semantic description than pure occupancy based representations. © 2012 Springer-Verlag GmbH Berlin Heidelberg.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.