Approximation and Segmentation of Objects in Pointclouds using Superquadrics
Jahr:
2009
Autoren/Hrsg:
Marcus Strand, Rüdiger Dillmann
Publikationstyp:
Kongressbeitrag/Proceeding
Quelle:
Proceedings of the 2009 IEEE International Conference on Information and Automation (ICIA 2009)
Abstract:
The abstraction from raw pointclouds to high level
representations is a necessity in real world robotic applications.
This concerns the semantic description of household objects
as well as the handling of complex objects (like grasping).
This paper describes a method for the manual segmentation of objects from scenes and the automated approximation of
objects with high level descriptors. For both tasks solutions based on superquadrics are presented.
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