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...