Model-Based Object Recognition from 3D Laser Data

被引：0
|
作者：
Guenther, Martin [1 ]
Wiemann, Thomas [1 ]
Albrecht, Sven [1 ]
Hertzberg, Joachim [1 ]
机构：
[1] Univ Osnabruck, D-49069 Osnabruck, Germany
来源：
KI 2011: ADVANCES IN ARTIFICIAL INTELLIGENCE | 2011年 / 7006卷
关键词：
object recognition; 3D point clouds; OWL-DL ontology; CAD model matching; semantic mapping; MAPS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a method for recognizing objects in 3D point clouds. Based on a structural model of these objects, we generate hypotheses for the location and 6DoF pose of these models and verify them by matching a CAD model of the object into the point cloud. Our method only needs a CAD model of each object class; no previous training is required.
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页码：99 / 110
页数：12
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