TY  - BOOK
AU  - Rusu,Radu Bogdan
ED  - SpringerLink (Online service)
TI  - Semantic 3D Object Maps for Everyday Robot Manipulation
T2  - Springer Tracts in Advanced Robotics,
SN  - 9783642354793
AV  - TJ210.2-211.495 
U1  - 629.892 23
PY  - 2013///
CY  - Berlin, Heidelberg
PB  - Springer Berlin Heidelberg, Imprint: Springer
KW  - Engineering
KW  - Artificial intelligence
KW  - Image processing
KW  - Robotics
KW  - Automation
KW  - Robotics and Automation
KW  - Artificial Intelligence (incl. Robotics)
KW  - Image Processing and Computer Vision
KW  - Signal, Image and Speech Processing
N1  - Introduction -- Semantic 3D Object Mapping Kernel -- Mapping of Indoor Environments -- Applications
N2  - 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 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 http://pointclouds.org
UR  - http://dx.doi.org/10.1007/978-3-642-35479-3
ER  -