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In this paper we present a framework for 3D geometric shape segmentation for close-range scenes used in mobile manipulation and grasping, out of sensed point cloud data. Our proposed approach proposes a robust geometric mapping pipeline for large input datasets that extracts relevant objects useful for a personal robotic assistant to perform manipulation tasks. The objects are segmented out from partial...
We present a novel algorithm to segment a 3D surface mesh into visually meaningful regions. Our approach is based on an analysis of the local geometry of vertices. In particular, we begin with a novel characterization of vertices as convex, concave or hyperbolic based upon their discrete local geometry. Hyperbolic and concave vertices are considered potential feature region boundaries. We propose...
We present an interactive mesh cutting method in this paper, which is based on a formulation of semi-supervised learning. Users first assign foreground and background seed faces on a given triangular mesh by sketch lines. Then the system computes a scalar field across the mesh. After that a coarse segmentation boundary is computed out respect to a specific iso-value, which leads to a refined boundary...
In this paper we introduce a new approach to knowledge-based segmentation. Our method consists of a novel representation to model shape variations as well as an efficient inference procedure to fit the model to new data. The considered shape model is similarity-invariant and refers to an incomplete graph that consists of intra and intercluster connections representing the inter-dependencies of control...
The initial effort to develop a systematic approach for estimating partial similarity measure of 2D boundary curve is proposed. First the curves are segmented and a high-level structure, feature', is introduced to organize the segments into meaningful regions. Then a two-step similarity assessment approach is devised. The first step is structure similar comparison based on the structure description...
The traditional three-dimensional object recognition method based on hypothesise and test need to solve the coordinate transformation matrix from scene to model through a group of non-linear equations. Therefore, it has a very high complexity. This paper presents a man-made object recognition method based on the geometry feature of line segments characteristics, and disperses the overall coordinate...
This research effort focuses on the historically-difficult problem of creating large-scale (city size) scene models from sensor data, including rapid extraction and modeling of geometry models. The solution to this problem is sought in the development of a novel modeling system with a fully automatic technique for the extraction of polygonal 3D models from LiDAR (Light Detection And Ranging) data...
This paper presents a new technique to generate triangular mesh surface parameterization and characterize 3-D surfaces by invariant spherical harmonic shape descriptors of objects with spherical topology. First, the surface is initially parameterized by defining a continuous one-to-one mapping from the surface of the object to the surface of a unit sphere. Then, the initial parameterization is optimized...
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