Extended 3D Line Segments from RGB-D Data for Pose Estimation [chapter]

Anders Glent Buch, Jeppe Barsøe Jessen, Dirk Kraft, Thiusius Rajeeth Savarimuthu, Norbert Krüger
2013 Lecture Notes in Computer Science  
We propose a method for the extraction of complete and rich symbolic line segments in 3D based on RGB-D data. Edges are detected by combining cues from the RGB image and the aligned depth map. 3D line segments are then reconstructed by back-projecting 2D line segments and intersecting this with local surface patches computed from the 3D point cloud. Different edge types are classified using the new enriched representation and the potential of this representation for the task of pose estimation is demonstrated.
doi:10.1007/978-3-642-38886-6_6 fatcat:3b5do4b23relneprtpbqg76bp4