Semantic 3D Object Maps for Everyday Robot Manipulation
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as a frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see
Available editions
Save this book
Save
OpenCourser helps millions of learners each year. People visit us to learn workspace skills, ace their exams, and nurture their curiosity.
Our extensive catalog contains over 50,000 courses and twice as many books. Browse by search, by topic, or even by career interests. We'll match you to the right resources quickly.
Find this site helpful? Tell a friend about us.
We're supported by our community of learners. When you purchase or subscribe to courses and programs or purchase books, we may earn a commission from our partners.
Your purchases help us maintain our catalog and keep our servers humming without ads.
Thank you for supporting OpenCourser.
