Cart (Loading....) | Create Account
Close category search window
 

Graph-based segmentation for colored 3D laser point clouds

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Strom, J. ; Dept. of Comput. Sci. & Eng., Univ. of Michigan, Ann Arbor, MI, USA ; Richardson, Andrew ; Olson, E.

We present an efficient graph-theoretic algorithm for segmenting a colored laser point cloud derived from a laser scanner and camera. Segmentation of raw sensor data is a crucial first step for many high level tasks such as object recognition, obstacle avoidance and terrain classification. Our method enables combination of color information from a wide field of view camera with a 3D LIDAR point cloud from an actuated planar laser scanner. We extend previous work on robust camera-only graph-based segmentation to the case where spatial features, such as surface normals, are available. Our combined method produces segmentation results superior to those derived from either cameras or laser-scanners alone. We verify our approach on both indoor and outdoor scenes.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.