Dynamic 3D Imaging

Abstract

It has been highlighted by many researchers, that the use of context information as an additional cue for high-level object\r recognition is important to close the gap between human and computer vision. We present an approach to context extraction\r in the form of global features for place recognition. Based on an uncalibrated combination of range data of a time-of-flight\r (ToF) camera and images obtained from a visual sensor, our system is able to classify the environment in predefined places\r (e.g. kitchen, corridor, office) by representing the sensor data with various global features. Besides state-of-the-art feature\r types, such as power spectrum models and Gabor filters, we introduce histograms of surface normals as a new representation\r of range images. An evaluation with different classifiers shows the potential of range data from a ToF camera as an additional\r cue for this task.