Joseph Modayil and Benjamin Kuipers. 2006.
Autonomous Shape Model Learning for Object Localization and Recognition .
IEEE International Conference on
Robotics and Automaton (ICRA-06), pages 2991--2996.
Mobile robots do not adequately represent the objects in their
environment; this weakness hinders a robot's ability to utilize past
experience. In this paper, we describe a simple and novel approach to
create object shape models from range sensors. We propose an
algorithm that defines angular constraints between multiple sensor
scans of an object. These constraints are used to align the scans,
creating a maximally coherent object shape model. We demonstrate the
utility of this shape model, consisting of scans and poses, for both
object recognition and localization. The results are accurate to
within sensor precision.
[QR home: http://www.cs.utexas.edu/users/qr]