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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルField and Service Robotics - Results of the 8th International Conference
ページ527-540
ページ数14
DOI
出版ステータスPublished - 2014
イベント8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan
継続期間: 2012 7 162012 7 19

出版物シリーズ

名前Springer Tracts in Advanced Robotics
92
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

Other

Other8th International Conference on Field and Service Robotics, FSR 2012
国/地域Japan
CityMatsushima, Miyagi
Period12/7/1612/7/19

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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