Extended 3D Line Segments from RGB-D Data for Pose Estimation

被引：0

作者：

Buch, Anders Glent ^{[1
]}

Jessen, Jeppe Barsoe ^{[1
]}

Kraft, Dirk ^{[1
]}

Savarimuthu, Thiusius Rajeeth ^{[1
]}

Kruger, Norbert ^{[1
]}

机构：

[1] Univ Southern Denmark, Maersk Mc Kinney Moller Inst, Odense, Denmark

来源：

IMAGE ANALYSIS, SCIA 2013: 18TH SCANDINAVIAN CONFERENCE | 2013年 / 7944卷

关键词：

Edge detection; pose estimation; EDGE-DETECTION; REGISTRATION; IMAGES;

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：

We propose a method for the extraction of complete and rich symbolic line segments in 3D based on RGB-D data. Edges are detected by combining cues from the RGB image and the aligned depth map. 3D line segments are then reconstructed by back-projecting 2D line segments and intersecting this with local surface patches computed from the 3D point cloud. Different edge types are classified using the new enriched representation and the potential of this representation for the task of pose estimation is demonstrated.

引用

页码：54 / 65

页数：12

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