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Semantic 3D Object Maps for Everyday Robot Manipulation (Paperback, 2013 ed.)
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Semantic 3D Object Maps for Everyday Robot Manipulation (Paperback, 2013 ed.)
Series: Springer Tracts in Advanced Robotics, 85
Expected to ship within 10 - 15 working days
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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
http://pointclouds.org.
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