Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays

Kazunori Ohno; Takahiro Suzuki; Kazuyuki Higashi; Masanobu Tsubota; Eijiro Takeuchi; Satoshi Tadokoro

doi:10.1007/978-3-642-40686-7_35

Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays

Kazunori Ohno, Takahiro Suzuki, Kazuyuki Higashi, Masanobu Tsubota, Eijiro Takeuchi, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The authors aim at classification of 3-D point cloud data at disaster environment. In this paper, we proposed a method of classification for 3-D point cloud data using geometrical features and the pass rate of laser rays. Line and frame objects often trap robots, which causes the damages of sensors, motors, mechanical parts etc. at remote operation. Using our proposed method, the line and frame objects can be classified from the 3-D point cloud data. Key-point is use of the pass rate of laser rays. It is confirm that recognition rate of line and frame objects can be increased using the pass rate of laser rays. In addition, it is confirm that the proposed classification method works in the real scene. A training facility of Japan fireman department is used for the evaluation test because it is similar to the real disaster scene comparing the laboratory's test field.

Original language	English
Title of host publication	Field and Service Robotics - Results of the 8th International Conference
Pages	527-540
Number of pages	14
DOIs	https://doi.org/10.1007/978-3-642-40686-7_35
Publication status	Published - 2014 Mar 11
Event	8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan Duration: 2012 Jul 16 → 2012 Jul 19

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	92
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Other

Other	8th International Conference on Field and Service Robotics, FSR 2012
Country	Japan
City	Matsushima, Miyagi
Period	12/7/16 → 12/7/19

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-642-40686-7_35

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Ohno, K., Suzuki, T., Higashi, K., Tsubota, M., Takeuchi, E., & Tadokoro, S. (2014). Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays. In Field and Service Robotics - Results of the 8th International Conference (pp. 527-540). (Springer Tracts in Advanced Robotics; Vol. 92). https://doi.org/10.1007/978-3-642-40686-7_35

Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays. / Ohno, Kazunori ; Suzuki, Takahiro; Higashi, Kazuyuki; Tsubota, Masanobu; Takeuchi, Eijiro; Tadokoro, Satoshi.

Field and Service Robotics - Results of the 8th International Conference. 2014. p. 527-540 (Springer Tracts in Advanced Robotics; Vol. 92).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ohno, K , Suzuki, T, Higashi, K, Tsubota, M, Takeuchi, E & Tadokoro, S 2014, Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays. in Field and Service Robotics - Results of the 8th International Conference. Springer Tracts in Advanced Robotics, vol. 92, pp. 527-540, 8th International Conference on Field and Service Robotics, FSR 2012, Matsushima, Miyagi, Japan, 12/7/16. https://doi.org/10.1007/978-3-642-40686-7_35

Ohno K , Suzuki T, Higashi K, Tsubota M, Takeuchi E, Tadokoro S. Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays. In Field and Service Robotics - Results of the 8th International Conference. 2014. p. 527-540. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-642-40686-7_35

Ohno, Kazunori ; Suzuki, Takahiro ; Higashi, Kazuyuki ; Tsubota, Masanobu ; Takeuchi, Eijiro ; Tadokoro, Satoshi. / Classification of 3-D point cloud data that includes line and frame objects on the basis of geometrical features and the pass rate of laser rays. Field and Service Robotics - Results of the 8th International Conference. 2014. pp. 527-540 (Springer Tracts in Advanced Robotics).

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