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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