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Autonomous meshing, texturing and recognition of object models with a mobile robot
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-1189-6634
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-7796-1438
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH Royal Inst Technol, Ctr Autonomous Syst, SE-10044 Stockholm, Sweden..ORCID iD: 0000-0002-1170-7162
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 5071-5078Conference paper, Published paper (Refereed)
Abstract [en]

We present a system for creating object models from RGB-D views acquired autonomously by a mobile robot. We create high-quality textured meshes of the objects by approximating the underlying geometry with a Poisson surface. Our system employs two optimization steps, first registering the views spatially based on image features, and second aligning the RGB images to maximize photometric consistency with respect to the reconstructed mesh. We show that the resulting models can be used robustly for recognition by training a Convolutional Neural Network (CNN) on images rendered from the reconstructed meshes. We perform experiments on data collected autonomously by a mobile robot both in controlled and uncontrolled scenarios. We compare quantitatively and qualitatively to previous work to validate our approach.

Place, publisher, year, edition, pages
IEEE , 2017. p. 5071-5078
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-225806ISI: 000426978204127Scopus ID: 2-s2.0-85041961210ISBN: 978-1-5386-2682-5 (print)OAI: oai:DiVA.org:kth-225806DiVA, id: diva2:1196060
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Funder
EU, FP7, Seventh Framework Programme, 600623Swedish Foundation for Strategic Research Swedish Research Council, C0475401
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2018-04-09Bibliographically approved

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Ambrus, RaresBore, NilsFolkesson, JohnJensfelt, Patric

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