Kristiyan Georgiev

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This paper describes a fast plane extraction algorithm for 3D range data. Taking advantage of the point neighborhood structure in data acquired from 3D sensors like range cameras, laser range finders and Microsoft Kinect, it divides the plane-segment extraction task into three steps. The first step is a 2D line segment extraction from raw sensor data,(More)
Incorporating relay nodes in cellular networks, e.g. UMTS/ HSPA, is beneficial for extending coverage as well as for service enhancement. In this paper we study the inter-cell interference generated by a relay-enabled cell and how this influences the performance of mobile users. The performance measures of interest are the inter-cell interference(More)
This paper introduces an approach to classify robot environments based on planar segments extracted from 3D data. In a preprocessing step, point data from a 3D range sensor is transformed to planar patches, i.e. raw data is transformed to a mid level geometric representation. This step allows for a robust, simple and straightforward feature extraction. The(More)
The paper describes a novel real-time algorithm for finding 3D geometric primitives (cylinders, cones and spheres) from 3D range data. In its core, it performs a fast model fitting with a model update in constant time (O(1)) for each new data point added to the model. We use a three stage approach. The first step inspects 1.5D sub spaces, to find ellipses.(More)
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