Probabilistic
Collision Detection between Noisy Point Clouds using Robust Classification
2Willow
Garage We use appropriate techniques from machine
learning to compute the collision probability for each point in the input
data and accelerate the computation using stochastic traversal of bounding
volume hierarchies. We highlight the performance of our algorithm on point
clouds captured using PR2 sensors as well as synthetic data sets, and show
that our approach provides a fast and robust solution for handling
uncertainty in contact computations.
International Symposium on Robotics Research
(ISRR), 2011 Proximity Computations
between Noisy Point Clouds using Robust Classification (PDF) RGB-D:
Advanced Reasoning with Depth Cameras (RSS workshop), 2011
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