학술논문
A method for estimating the volume of clusters built by Growing Neural Gas
Document Type
Conference
Author
Source
2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&ISIS) Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&ISIS), 2022 Joint 12th International Conference on. :1-5 Nov, 2022
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Language
Abstract
3D space perception is playing an important role in autonomous robots completing a task adaptively in the form of detecting target objects and estimating the 3D pose of target objects. This paper utilizes a growing neural gas (GNG) based method called GNG with different topologies (GNG-DT) for reconstructing unstructured point clouds. Next, for extracting a feature from clustering results, we propose a GNG based volume estimation method. Finally, we display a sequence of experimental results of the proposed method using simulation data sets and 3D point cloud datasets to evaluate the proposed method and discuss its effectiveness.