Improvements of Change Detection in Point Cloud Data and Visualization of the Changes by Incorporating Semantic Information
Project Period: 1.8.2015 - 31.12.2015
Agency: Ministry of Education, Youth and Sports Czech Republic
Program: AKTION Česká republika - Rakousko
Typical approaches for the detection of changes in point cloud data obtained by sensors like MS Kinect or Velodyne LiDAR use only the measured 3D information about the object geometry (points, surfels). The changes are typically visualized by highlighting changed parts of the scene. The newly proposed approach will benefit from the semantic description of the environment what means description of particular objects, information on their class (floor, table), connections (a cup on the table), etc.
The prepared software solution will be able to identify changing (moving) objects in the scene and present them to a remote operator of the robotic system in more clear and precise way: "The cup is no more present on the table." The semantic information might also enable multi-modal communication with the operator by communicating the changes in the environment using synthesized voice messages, etc.