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Proceedings Paper

Real-time geometric scene estimation for RGBD images using a 3D box shape grammar
Author(s): Andrew R. Willis; Kevin M. Brink
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Paper Abstract

This article describes a novel real-time algorithm for the purpose of extracting box-like structures from RGBD image data. In contrast to conventional approaches, the proposed algorithm includes two novel attributes: (1) it divides the geometric estimation procedure into subroutines having atomic incremental computational costs, and (2) it uses a generative “Block World” perceptual model that infers both concave and convex box elements from detection of primitive box substructures. The end result is an efficient geometry processing engine suitable for use in real-time embedded systems such as those on an UAVs where it is intended to be an integral component for robotic navigation and mapping applications.

Paper Details

Date Published: 1 June 2016
PDF: 11 pages
Proc. SPIE 9867, Three-Dimensional Imaging, Visualization, and Display 2016, 986709 (1 June 2016); doi: 10.1117/12.2225545
Show Author Affiliations
Andrew R. Willis, Univ. of North Carolina at Charlotte (United States)
Kevin M. Brink, Air Force Research Lab. (United States)


Published in SPIE Proceedings Vol. 9867:
Three-Dimensional Imaging, Visualization, and Display 2016
Bahram Javidi; Jung-Young Son, Editor(s)

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