A Scene Graph Based Shared 3D World Model for Robotic Applications

被引：0

作者：

Blumenthal, Sebastian ^{[1
]}

Bruyninckx, Herman ^{[3
]}

Nowak, Walter ^{[4
]}

Prassler, Erwin ^{[2
]}

机构：

[1] GPS GmbH, Nobelstr 15, D-70569 Stuttgart, Germany

[2] Univ Appl Sci Bonn Rhein Sieg, D-53757 Augsburg, Germany

[3] Katholieke Univ Leuven, Dept Mech Engn, Leuven, Belgium

[4] Locomotec UG, D-86159 Augsburg, Germany

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel approach for representing and maintaining a shared 3D world model for robotic applications. This approach is based on the scene graph concept which has been adapted to the requirements of the robotic domain. A key feature is the temporal and centralized sharing of all available 3D data in the leaves of the graph structure. The approach enables tracking of dynamic objects, incorporates uncertainty and allows for annotations by semantic tags. A demonstration is given for a perception application that exploits the temporal sharing of 3D data. A Region of Interest (ROI) is extracted from the stored scene data in order to accelerate processing cycle times.

引用

页码：453 / 460

页数：8

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