TY - GEN
T1 - A comparison of geometric and energy-based point cloud semantic segmentation methods
AU - Dubois, Mathieu
AU - Rozo, Paola K.
AU - Gepperth, Alexander
AU - Gonzalez, O. Fabio A.
AU - Filliat, David
PY - 2013/1/1
Y1 - 2013/1/1
N2 - The recent availability of inexpensive RGB-D cameras, such as the Microsoft Kinect, has raised interest in the robotics community for point cloud segmentation. We are interested in the semantic segmentation task in which the goal is to find some relevant classes for navigation, wall, ground, objects, etc. Several effective solutions have been proposed, mainly based on the recursive decomposition of the point cloud into planes. We compare such a solution to a non-associative MRF method inspired by some recent work in computer vision. The MRF yields interesting results that are however less good than those of a carefully tuned geometric method. Nevertheless, MRF still has some advantages and we suggest some improvements.
AB - The recent availability of inexpensive RGB-D cameras, such as the Microsoft Kinect, has raised interest in the robotics community for point cloud segmentation. We are interested in the semantic segmentation task in which the goal is to find some relevant classes for navigation, wall, ground, objects, etc. Several effective solutions have been proposed, mainly based on the recursive decomposition of the point cloud into planes. We compare such a solution to a non-associative MRF method inspired by some recent work in computer vision. The MRF yields interesting results that are however less good than those of a carefully tuned geometric method. Nevertheless, MRF still has some advantages and we suggest some improvements.
U2 - 10.1109/ECMR.2013.6698825
DO - 10.1109/ECMR.2013.6698825
M3 - Conference contribution
AN - SCOPUS:84893269232
SN - 9781479902637
T3 - 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
SP - 88
EP - 93
BT - 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
PB - IEEE Computer Society
T2 - 2013 6th European Conference on Mobile Robots, ECMR 2013
Y2 - 25 September 2013 through 27 September 2013
ER -