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Plane Object-Based High-Level Map Representation for SLAM

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Computer Vision and Graphics (ICCVG 2018)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 11114))

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Abstract

High-level map representation providing object-based understanding of the environment is an important component for SLAM. We present a novel algorithm to build plane object-based map representation upon point cloud that is obtained in real–time from RGB-D sensors such as Kinect. On the basis of segmented planes in point cloud we construct a graph, where a node and edge represent a plane and its real intersection with other plane, respectively. After that, we extract all trihedral angles (corners) represented by 3rd order cycles in the graph. Afterwards, we execute systematic aggregation of trihedral angles into object such as trihedral angles of the same plane-based object have common edges. Finally, we classify objects using simple subgraph patterns and determine their physical sizes. Our experiments figured out that the proposed algorithm reliably extracts objects, determines their physical sizes and classifies them with a promising performance.

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Acknowledgment

This work was partially supported by Polish National Science Center (NCN) under a research grant 2014/15/B/ST6/02808 as well as by PhD program of the Ministry of Science and Education of the Republic of Kazakhstan.

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Authors and Affiliations

  1. AGH University of Science and Technology, 30 Mickiewicza, 30-059, Kraków, Poland

    Bogdan Kwolek

  2. Al-Farabi Kazakh National University, Prospect al-Farabi 71, Almaty, Kazakhstan

    Pavel Gritsenko, Igor Gritsenko & Askar Seidakhmet

Authors
  1. Pavel Gritsenko
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  2. Igor Gritsenko
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  3. Askar Seidakhmet
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  4. Bogdan Kwolek
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Corresponding author

Correspondence to Bogdan Kwolek .

Editor information

Editors and Affiliations

  1. Faculty of Applied Informatics and Mathematics, Warsaw University of Life Sciences, Warsaw, Poland

    Leszek J. Chmielewski

  2. Faculty of Applied Informatics and Mathematics, Warsaw University of Life Sciences, Warsaw, Poland

    Ryszard Kozera

  3. Faculty of Applied Informatics and Mathematics, Warsaw University of Life Sciences, Warsaw, Poland

    Arkadiusz Orłowski

  4. Institute of Computer Science, Silesian University of Technology, Gliwice, Poland

    Konrad Wojciechowski

  5. Technion, Israel Institute of Technology, Haifa, Israel

    Alfred M. Bruckstein

  6. University of Groningen, Groningen, The Netherlands

    Nicolai Petkov

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Gritsenko, P., Gritsenko, I., Seidakhmet, A., Kwolek, B. (2018). Plane Object-Based High-Level Map Representation for SLAM. In: Chmielewski, L., Kozera, R., Orłowski, A., Wojciechowski, K., Bruckstein, A., Petkov, N. (eds) Computer Vision and Graphics. ICCVG 2018. Lecture Notes in Computer Science(), vol 11114. Springer, Cham. https://doi.org/10.1007/978-3-030-00692-1_9

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  • DOI: https://doi.org/10.1007/978-3-030-00692-1_9

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  • Online ISBN: 978-3-030-00692-1

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