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Journal article

Parsing outdoor scenes from streamed 3D laser data using online clustering and incremental belief updates

Abstract:

In this paper, we address the problem of continually parsing a stream of 3D point cloud data acquired from a laser sensor mounted on a road vehicle. We leverage an online star clustering algorithm coupled with an incremental belief update in an evolving undirected graphical model. The fusion of these techniques allows the robot to parse streamed data and to continually improve its understanding of the world. The core competency produced is an ability to infer object classes from similarities ...

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Journal:
Proceedings of the National Conference on Artificial Intelligence More from this journal
Volume:
3
Pages:
2088-2095
Publication date:
2012-01-01
Language:
English
Pubs id:
pubs:360452
UUID:
uuid:8f3ef300-c84b-4dd1-80a7-ab0b2774d009
Local pid:
pubs:360452
Source identifiers:
360452
Deposit date:
2013-11-17

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