A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots
This study proposes a framework to detect and recognize household furniture using autonomous mobile robots. The proposed methodology is based on the analysis and integration of geometric features extracted over 3D point clouds. A relational graph is constructed using those features to model and reco...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-11-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/8/11/2234 |
| _version_ | 1818362253945077760 |
|---|---|
| author | Oscar Alonso-Ramirez Antonio Marin-Hernandez Homero V. Rios-Figueroa Michel Devy Saul E. Pomares-Hernandez Ericka J. Rechy-Ramirez |
| author_facet | Oscar Alonso-Ramirez Antonio Marin-Hernandez Homero V. Rios-Figueroa Michel Devy Saul E. Pomares-Hernandez Ericka J. Rechy-Ramirez |
| author_sort | Oscar Alonso-Ramirez |
| collection | DOAJ |
| description | This study proposes a framework to detect and recognize household furniture using autonomous mobile robots. The proposed methodology is based on the analysis and integration of geometric features extracted over 3D point clouds. A relational graph is constructed using those features to model and recognize each piece of furniture. A set of sub-graphs corresponding to different partial views allows matching the robot’s perception with partial furniture models. A reduced set of geometric features is employed: horizontal and vertical planes and the legs of the furniture. These features are characterized through their properties, such as: height, planarity and area. A fast and linear method for the detection of some geometric features is proposed, which is based on histograms of 3D points acquired from an RGB-D camera onboard the robot. Similarity measures for geometric features and graphs are proposed, as well. Our proposal has been validated in home-like environments with two different mobile robotic platforms; and partially on some 3D samples of a database. |
| first_indexed | 2024-12-13T21:29:39Z |
| format | Article |
| id | doaj.art-11c198a35b2a46ca96926ccf8c643822 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-13T21:29:39Z |
| publishDate | 2018-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-11c198a35b2a46ca96926ccf8c6438222022-12-21T23:30:52ZengMDPI AGApplied Sciences2076-34172018-11-01811223410.3390/app8112234app8112234A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile RobotsOscar Alonso-Ramirez0Antonio Marin-Hernandez1Homero V. Rios-Figueroa2Michel Devy3Saul E. Pomares-Hernandez4Ericka J. Rechy-Ramirez5Artificial Intelligence Research Center, Universidad Veracruzana, Sebastian Camacho No. 5, Xalapa 91000, MexicoArtificial Intelligence Research Center, Universidad Veracruzana, Sebastian Camacho No. 5, Xalapa 91000, MexicoArtificial Intelligence Research Center, Universidad Veracruzana, Sebastian Camacho No. 5, Xalapa 91000, MexicoCNRS-LAAS, Université Toulouse, 7 avenue du Colonel Roche, F-31077 Toulouse CEDEX, FranceDepartment of Electronics, National Institute of Astrophysics, Optics and Electronics, Luis Enrique Erro No. 1, Puebla 72840, MexicoArtificial Intelligence Research Center, Universidad Veracruzana, Sebastian Camacho No. 5, Xalapa 91000, MexicoThis study proposes a framework to detect and recognize household furniture using autonomous mobile robots. The proposed methodology is based on the analysis and integration of geometric features extracted over 3D point clouds. A relational graph is constructed using those features to model and recognize each piece of furniture. A set of sub-graphs corresponding to different partial views allows matching the robot’s perception with partial furniture models. A reduced set of geometric features is employed: horizontal and vertical planes and the legs of the furniture. These features are characterized through their properties, such as: height, planarity and area. A fast and linear method for the detection of some geometric features is proposed, which is based on histograms of 3D points acquired from an RGB-D camera onboard the robot. Similarity measures for geometric features and graphs are proposed, as well. Our proposal has been validated in home-like environments with two different mobile robotic platforms; and partially on some 3D samples of a database.https://www.mdpi.com/2076-3417/8/11/2234service robotgraph representationsimilarity measure |
| spellingShingle | Oscar Alonso-Ramirez Antonio Marin-Hernandez Homero V. Rios-Figueroa Michel Devy Saul E. Pomares-Hernandez Ericka J. Rechy-Ramirez A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots Applied Sciences service robot graph representation similarity measure |
| title | A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots |
| title_full | A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots |
| title_fullStr | A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots |
| title_full_unstemmed | A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots |
| title_short | A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots |
| title_sort | graph representation composed of geometrical components for household furniture detection by autonomous mobile robots |
| topic | service robot graph representation similarity measure |
| url | https://www.mdpi.com/2076-3417/8/11/2234 |
| work_keys_str_mv | AT oscaralonsoramirez agraphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT antoniomarinhernandez agraphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT homerovriosfigueroa agraphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT micheldevy agraphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT saulepomareshernandez agraphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT erickajrechyramirez agraphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT oscaralonsoramirez graphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT antoniomarinhernandez graphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT homerovriosfigueroa graphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT micheldevy graphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT saulepomareshernandez graphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots AT erickajrechyramirez graphrepresentationcomposedofgeometricalcomponentsforhouseholdfurnituredetectionbyautonomousmobilerobots |