Realtime 3D Segmentation for Human-Robot Interaction

Ückermann A, Haschke R, Ritter H (2013)
Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan.

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Conference Paper | Published | English
Abstract
We present a real-time algorithm that segments unstructured and highly cluttered scenes. The algorithm robustly separates objects of unknown shape in congested scenes of stacked and occluded objects. The model-free approach finds smooth surface patches, using a depth image from a Kinect camera, which are subsequently combined to form highly probable object hypotheses. Coplanarity and curvature matching is used to recombine surfaces separated by occlusion. The real-time capabilities are proven and the quality of the algorithm is evaluated on a benchmark database. Advantages compared to existing approaches as well as weaknesses are discussed.
Publishing Year
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Location
Tokyo, Japan
Conference Date
2013-11-03 – 2013-11-07
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Ückermann A, Haschke R, Ritter H. Realtime 3D Segmentation for Human-Robot Interaction. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan.
Ückermann, A., Haschke, R., & Ritter, H. (2013). Realtime 3D Segmentation for Human-Robot Interaction. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan.
Ückermann, A., Haschke, R., and Ritter, H. (2013).“Realtime 3D Segmentation for Human-Robot Interaction”. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan.
Ückermann, A., Haschke, R., & Ritter, H., 2013. Realtime 3D Segmentation for Human-Robot Interaction. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan.
A. Ückermann, R. Haschke, and H. Ritter, “Realtime 3D Segmentation for Human-Robot Interaction”, Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
Ückermann, A., Haschke, R., Ritter, H.: Realtime 3D Segmentation for Human-Robot Interaction. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan (2013).
Ückermann, André, Haschke, Robert, and Ritter, Helge. “Realtime 3D Segmentation for Human-Robot Interaction”. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, 2013.
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