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Object Classification based on a Geometric Grammar with a Range Camera
(2009)2009 IEEE International Conference on Robotics and AutomationThis paper proposes an object classification framework based on a geometric grammar aimed for mobile robotic applications. The paper first discusses the geometric grammar as a compact representation form for object categories with primitive parts as its constituent elements. The paper then discusses the object classification implemented as parsing of primitive parts. In particular, two approaches are discussed that constrain the search ...Conference Paper -
Incremental object part detection toward object classification in a sequence of noisy range images
(2008)Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2008Conference Paper -
A Bayesian Approach to Conceptualization and Place Classification
(2007)Proceedings of the 3rd European Conference on Mobile RobotsConference Paper -
A lightweight SLAM algorithm using Orthogonal planes for indoor mobile robotics
(2007)2007 IEEE/RSJ International Conference on Intelligent Robots and SystemsSimple, fast and lightweight SLAM algorithms are necessary in many embedded robotic systems which soon will be used in houses and offices in order to do various service tasks. In this paper the Orthogonal SLAM algorithm is presented as an answer to this need. In continuation of our previous work, the algorithm is extended to generate 3D maps and empirically validated by mapping the long corridor of our lab with the accuracy comparable ...Conference Paper