Semantic 3D Object Maps for Everyday Robot Manipulatio
General Material Designation
[Book]
First Statement of Responsibility
/ by Radu Bogdan Rusu
.PUBLICATION, DISTRIBUTION, ETC
Place of Publication, Distribution, etc.
Berlin, Heidelberg
Name of Publisher, Distributor, etc.
: Springer Berlin Heidelberg :Imprint: Springer,
Date of Publication, Distribution, etc.
, 2013.
PHYSICAL DESCRIPTION
Specific Material Designation and Extent of Item
XII, 232 p. 181 illus., online resource.
SERIES
Series Title
(Springer Tracts in Advanced Robotics,1610-7438
Volume Designation
; 85)
NOTES PERTAINING TO PUBLICATION, DISTRIBUTION, ETC.
Text of Note
Electronic
CONTENTS NOTE
Text of Note
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://pointclouds.org.
Text of Note
Introduction -- Semantic 3D Object Mapping Kernel -- Mapping of Indoor Environments -- Applications.