Date of Original Version

2003

Type

Conference Proceeding

Abstract or Description

This paper addresses the problem of extracting information from range and color data acquired by a mobile robot in urban environments. Our approach extracts geometric structures from clouds of 3-D points and regions from the corresponding color images, labels them based on prior models of the objects expected in the environment - buildings in the current experiments - and combines the two sources of information into a composite labeled map. Ultimately, our goal is to generate maps that are segmented into objects of interest, each of which is labeled by its type, e.g., buildings, vegetation, etc. Such a map provides a higher-level representation of the environment than the geometric maps normally used for mobile robot navigation. The techniques presented here are a step toward the automatic construction of such labeled maps.

Comments

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Robotics Commons

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Published In

Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),, 1314-1321.