Compact covariance descriptors in 3D point clouds for object recognition

Duc Fehr, Anoop Cherian, Ravishankar Sivalingam, Sam Nickolay, Vassilios Morellas And, Nikolaos P Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Citations (Scopus)

Abstract

One of the most important tasks for mobile robots is to sense their environment. Further tasks might include the recognition of objects in the surrounding environment. Three dimensional range finders have become the sensors of choice for mapping the environment of a robot. Recognizing objects in point clouds provided by such sensors is a difficult task. The main contribution of this paper is the introduction of a new covariance based point cloud descriptor for such object recognition. Covariance based descriptors have been very successful in image processing. One of the main advantages of these descriptors is their relatively small size. The comparisons between different covariance matrices can also be made very efficient. Experiments with real world and synthetic data will show the superior performance of the covariance descriptors on point clouds compared to state-of-the-art methods.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1793-1798
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

Fingerprint

Object recognition
Range finders
Sensors
Covariance matrix
Mobile robots
Image processing
Robots
Experiments

Cite this

Fehr, D., Cherian, A., Sivalingam, R., Nickolay, S., Morellas And, V., & Papanikolopoulos, N. P. (2012). Compact covariance descriptors in 3D point clouds for object recognition. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 1793-1798). [6224740] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224740

Compact covariance descriptors in 3D point clouds for object recognition. / Fehr, Duc; Cherian, Anoop; Sivalingam, Ravishankar; Nickolay, Sam; Morellas And, Vassilios; Papanikolopoulos, Nikolaos P.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 1793-1798 6224740.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fehr, D, Cherian, A, Sivalingam, R, Nickolay, S, Morellas And, V & Papanikolopoulos, NP 2012, Compact covariance descriptors in 3D point clouds for object recognition. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224740, Institute of Electrical and Electronics Engineers Inc., pp. 1793-1798, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224740
Fehr D, Cherian A, Sivalingam R, Nickolay S, Morellas And V, Papanikolopoulos NP. Compact covariance descriptors in 3D point clouds for object recognition. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 1793-1798. 6224740 https://doi.org/10.1109/ICRA.2012.6224740
Fehr, Duc ; Cherian, Anoop ; Sivalingam, Ravishankar ; Nickolay, Sam ; Morellas And, Vassilios ; Papanikolopoulos, Nikolaos P. / Compact covariance descriptors in 3D point clouds for object recognition. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 1793-1798
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