Automatic building detection from aerial images for mobile robot mapping
Persson, M.; Sandvall, M.; Duckett, T.
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Volume , Issue , 27-30 June 2005 Page(s): 273 - 278
Digital Object Identifier 10.1109/CIRA.2005.1554289
Summary: To improve mobile robot outdoor mapping, information about the shape and location of buildings is of interest. This paper describes a system for automatic detection of buildings in aerial images taken from a nadir view. The system builds two types of independent hypotheses based on the image contents. A segmentation process implemented as an ensemble of SOMs (Self Organizing Maps) is trained and used to create a segmented image snowing different types of roofs, vegetation and sea. A second type of hypotheses is based on an edge image produced from the aerial photo. A line extraction process uses the edge image as input and extracts lines from it. From these edges, corners and rectangles that represent buildings are constructed. A classification process uses the information from both hypotheses to determine whether the rectangles are buildings, unsure buildings or unknown objects.
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