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.

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

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