Model-based object recognition from 3D laser data

Abstract

This paper presents a method for recognizing objects in 3D point clouds. Based on a structural model of these objects, we generate hypotheses for the location and 6DoF pose of these models and verify them by matching a CAD model of the object into the point cloud. Our method only needs a CAD model of each object class; no previous training is required

Publication
KI 2011: Advances in Artificial Intelligence. 34th Annual German Conference on AI
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