Identifying support surfaces of climbable structures from 3D point clouds


Conference Paper

© 2014 IEEE. This paper presents a probabilistic technique for identifying support surfaces like floors, walls, stairs, and rails from unstructured 3D point cloud scans. A Markov random field is employed to model the joint probability of point labels, which can take on a number of user-defined surface classes. The probability of a point depends on both local spatial features of the point cloud around the point as well as the classifications of points in its neighborhood. The training step estimates joint and pairwise potentials from labeled point cloud datasets, and the prediction step aims to maximize the joint probability of all labels using a hill-climbing procedure. The method is applied to stair and ladder detection from noisy and partial scans using three types of sensors: A sweeping laser sensor, time-offlight depth camera, and a Kinect depth camera. The resulting classifier achieves approximately 75% accuracy and is robust to variations in point density.

Full Text

Duke Authors

Cited Authors

  • Eilering, A; Yap, V; Johnson, J; Hauser, K

Published Date

  • January 1, 2014

Published In

Start / End Page

  • 6226 - 6231

International Standard Serial Number (ISSN)

  • 1050-4729

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2014.6907777

Citation Source

  • Scopus