RT Journal Article
T1 OLT: A Toolkit for Object Labeling Applied to Robotic RGB-D Datasets
A1 Ruiz-Sarmiento, José Raúl
A1 Galindo-Andrades, Cipriano
A1 González-Jiménez, Antonio Javier
K1 Robótica
AB In this work we present the Object Labeling Toolkit(OLT), a set of software components publicly available forhelping in the management and labeling of sequential RGB-Dobservations collected by a mobile robot. Such a robot can beequipped with an arbitrary number of RGB-D devices, possiblyintegrating other sensors (e.g. odometry, 2D laser scanners,etc.). OLT first merges the robot observations to generate a3D reconstruction of the scene from which object segmentationand labeling is conveniently accomplished. The annotated labelsare automatically propagated by the toolkit to each RGB-Dobservation in the collected sequence, providing a dense labelingof both intensity and depth images. The resulting objects’ labelscan be exploited for many robotic oriented applications, includinghigh-level decision making, semantic mapping, or contextualobject recognition. Software components within OLT are highlycustomizable and expandable, facilitating the integration ofalready-developed algorithms. To illustrate the toolkit suitability,we describe its application to robotic RGB-D sequences taken ina home environment.
YR 2015
FD 2015-09-07
LK http://hdl.handle.net/10630/10220
UL http://hdl.handle.net/10630/10220
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.         Spanish grant pro-gram FPU-MICINN 2010 and the Spanish projects TAROTH:New developments toward a Robot at Home (DPI2011-25483)and PROMOVE: Advances in mobile robotics for promotingindependent life of elders (DPI2014-55826-R)
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 12 abr 2026