Damir Filko

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—A range image segmentation approach is presented. A range image obtained by a 3D sensor is transformed to a 2.5D triangle mesh. This mesh is then segmented into approximately convex surfaces by an iterative procedure based on the incremental convex hull algorithm and region growing. The proposed approach is designed as a fast mid-level tool whose task is(More)
A fast robot pose tracking algorithm based on planar segments extracted from range images is presented. A range image obtained from a 3D sensor is transformed to a 2.5D triangle mesh from which planar segments are extracted. Using information provided by each planar segment based on its size and orientation, a directed search hypothesis generation algorithm(More)
—Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location modeled by a set of planar surface segments. The discussed localization approach segments a depth image acquired by a(More)
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