Robust Frequency-Based Structure Extraction
Tomasz Piotr Kucner,Matteo Luperto,Stephanie Lowry,Martin Magnusson,Achim J. Lilienthal,Tomasz Piotr Kucner,Matteo Luperto,Stephanie Lowry,Martin Magnusson,Achim J. Lilienthal
State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for semantic understanding of the environment. This paper presents ROSE, a method for building-level structure detection in robotic maps. ROSE exploits the fact tha...
