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Semantic 3D Object Maps for Everyday Robot Manipulation
Paperback
Series: Springer Tracts in Advanced Robotics, Book 85
Technology & EngineeringProgramming
ISBN13: 9783642427381
Publisher: Springer
Published: Jun 25 2015
Pages: 225
Weight: 0.79
Height: 0.53 Width: 6.14 Depth: 9.21
Language: English
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.
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