Faculty Advisor

Chernova, Sonia

Faculty Advisor

Rich, Charles

Abstract

I introduce a simple yet robust algorithm for discovering objects and level planes from depth information produced by a Microsoft Kinect. In a controlled indoor environment, this algorithm discovers objects on multiple surfaces at varying heights and distinguishes between separate objects on the same surface. The algorithm includes eliminating large planes from the input, clustering objects by spatial proximity, and by filtering results using domain knowledge of the environment.

Publisher

Worcester Polytechnic Institute

Date Accepted

December 2012

Major

Computer Science

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

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