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dc.contributor.authorPlaza, Victoria
dc.contributor.authorAbabsa, Fakhr-Eddine
dc.contributor.authorGarcia-Cerezo, Alfonso J. 
dc.contributor.authorGomez-Ruiz, Jose Antonio 
dc.date.accessioned2015-03-26T13:47:04Z
dc.date.available2015-03-26T13:47:04Z
dc.date.created2015
dc.date.issued2015-03-26
dc.identifier.urihttp://hdl.handle.net/10630/9616
dc.description.abstractThis work proposes a new segmentation algorithm for three-dimensional dense point clouds and has been specially designed for natural environments where the ground is unstructured and may include big slopes, non-flat areas and isolated areas. This technique is based on a Geometric-Featured Voxel map (GFV) where the scene is discretized in constant size cubes or voxels which are classified in flat surface, linear or tubular structures and scattered or undefined shapes, usually corresponding to vegetation. Since this is not a point-based technique the computational cost is significantly reduced, hence it may be compatible with Real-Time applications. The ground is extracted in order to obtain more accurate results in the posterior segmentation process. The scene is split into objects and a second segmentation in regions inside each object is performed based on the voxel’s geometric class. The work here evaluates the proposed algorithm in various versions and several voxel sizes and compares the results with other methods from the literature. For the segmentation evaluation the algorithms are tested on several differently challenging hand-labeled data sets using two metrics, one of which is novel.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectIngeniería de sistemases_ES
dc.title3D Segmentation Method for Natural Environments based on a Geometric-Featured Voxel Mapes_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.centroE.T.S.I. Industriales_ES
dc.relation.eventtitle2015 IEEE Industrial Electronics Societyes_ES
dc.relation.eventplaceSevillaes_ES
dc.relation.eventdateMarzo 2015es_ES


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