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Proceedings Paper

A novel octree partitioning approach based on camera parameters for unknown object representation
Author(s): JeongHyun Seo; JaeWoong Kim; Sukhan Lee; Yeonchool Park
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Paper Abstract

This paper proposes an improved octree representation method which is necessary for robot manipulation. To manipulate an object in a certain complex environment, robot needs simple, precise, and task oriented environment representations. Octree is a effective and broadly used three dimensional volumetric representation method to do this. But the problem of the conventional octree representation methods is that it generate many useless and incorrect cells because it generates the octree based on the number of 3D points. To solve these problems, we use the new 'Fill-Factor' concept. This paper introduces the concept and shows the experimental results to show the feasibility of the concept.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942S (9 January 2008); doi: 10.1117/12.784520
Show Author Affiliations
JeongHyun Seo, Sungkyunkwan Univ. (South Korea)
JaeWoong Kim, Sungkyunkwan Univ. (South Korea)
Sukhan Lee, Sungkyunkwan Univ. (South Korea)
Yeonchool Park, Sungkyunkwan Univ. (South Korea)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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