3D Laser scanning system and 3D segmentation of urban scenes

This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D...

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Bibliographic Details
Published in2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Vol. 1; pp. 1 - 5
Main Authors Goron, L C, Tamas, L, Reti, I, Lazea, G
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2010
Subjects
3D laser scanning system
3D point cloud
Clouds
Humans
Large-scale systems
Laser modes
Layout
Mobile robots
Optical design
plane extraction
Robot sensing systems
Robotics and automation
Service robots
urban segmentation
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Summary:This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository of the Leibniz University in Hannover, Germany.
ISBN:1424467241
9781424467242
DOI:10.1109/AQTR.2010.5520872