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Article Dans Une Revue Applied Sciences Année : 2018

A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots

Résumé

This study proposes a framework to detect and recognize household furniture using autonomous mobile robots. The proposed methodology is based on the analysis and integration of geometric features extracted over 3D point clouds. A relational graph is constructed using those features to model and recognize each piece of furniture. A set of sub-graphs corresponding to different partial views allows matching the robot's perception with partial furniture models. A reduced set of geometric features is employed: horizontal and vertical planes and the legs of the furniture. These features are characterized through their properties, such as: height, planarity and area. A fast and linear method for the detection of some geometric features is proposed, which is based on histograms of 3D points acquired from an RGB-D camera onboard the robot. Similarity measures for geometric features and graphs are proposed, as well. Our proposal has been validated in home-like environments with two different mobile robotic platforms; and partially on some 3D samples of a database.
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Dates et versions

hal-02049276 , version 1 (26-02-2019)

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Oscar Alonso-Ramirez, Antonio Marin-Hernandez, Homero Rios-Figueroa, Michel Devy, Saul E Pomares-Hernandez, et al.. A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots. Applied Sciences, 2018, 8 (11), pp.2234. ⟨10.3390/app8112234⟩. ⟨hal-02049276⟩
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