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Proceedings Paper

Acceleration of planes segmentation using normals from previous frame
Author(s): Pavel Gritsenko; Igor Gritsenko; Askar Seidakhmet; Azizbek Abduraimov
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Paper Abstract

One of the major problem in integration process of robots is to make them able to function in a human environment. In terms of computer vision, the major feature of human made rooms is the presence of planes [1, 2, 20, 21, 23]. In this article, we will present an algorithm dedicated to increase speed of a plane segmentation. The algorithm uses information about location of a plane and its normal vector to speed up the segmentation process in the next frame. In conjunction with it, we will address such aspects of ICP SLAM as performance and map representation.

Paper Details

Date Published: 19 December 2017
PDF: 5 pages
Proc. SPIE 10613, 2017 International Conference on Robotics and Machine Vision, 106130C (19 December 2017); doi: 10.1117/12.2299646
Show Author Affiliations
Pavel Gritsenko, Al-Farabi Kazakh National Univ. (Kazakhstan)
Igor Gritsenko, Al-Farabi Kazakh National Univ. (Kazakhstan)
Askar Seidakhmet, Al-Farabi Kazakh National Univ. (Kazakhstan)
Azizbek Abduraimov, Al-Farabi Kazakh National Univ. (Kazakhstan)

Published in SPIE Proceedings Vol. 10613:
2017 International Conference on Robotics and Machine Vision
Chiharu Ishii; Genci Capi; Jianhong Zhou, Editor(s)

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