期刊
PATTERN RECOGNITION LETTERS
卷 50, 期 -, 页码 55-62出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.patrec.2014.05.016
关键词
3D data; Compression; Kinect
资金
- Spanish Government [DPI2013-40534-R]
The use of 3D data in mobile robotics applications provides valuable information about the robot's environment but usually the huge amount of 3D information is unmanageable by the robot storage and computing capabilities. A data compression is necessary to store and manage this information but preserving as much information as possible. In this paper, we propose a 3D lossy compression system based on plane extraction which represent the points of each scene plane as a Delaunay triangulation and a set of points/area information. The compression system can be customized to achieve different data compression or accuracy ratios. It also supports a color segmentation stage to preserve original scene color information and provides a realistic scene reconstruction. The design of the method provides a fast scene reconstruction useful for further visualization or processing tasks. (C) 2014 Elsevier B.V. All rights reserved.
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