Robust Frequency-Based Structure Extraction

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Tomasz Piotr Kucner, Matteo Luperto, Stephanie Lowry, Martin Magnusson, and Achim J. Lilienthal
Robust Frequency-Based Structure Extraction
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). June 2021.



State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for semantic understanding of the environment. This paper presents ROSE, a method for building-level structure detection in robotic maps. ROSE exploits the fact that indoor environments usually contain walls and straight-line elements along a limited set of orientations. Therefore metric maps often have a set of dominant directions. ROSE extracts these directions and uses this information to segment the map into structure and clutter through filtering the map in the frequency domain (an approach substantially underutilised in the mapping applications). Removing the clutter in this way makes wall detection (e.g. using the Hough transform) more robust. Our experiments demonstrate that (1) the application of ROSE for decluttering can substantially improve structural feature retrieval (e.g., walls) in cluttered environments, (2) ROSE can successfully distinguish between clutter and structure in the map even with substantial amount of noise and (3) ROSE can numerically assess the amount of structure in the map.

author = {Tomasz Piotr Kucner and Matteo Luperto and Stephanie Lowry and Martin Magnusson and Achim J. Lilienthal},
title = {Robust Frequency-Based Structure Extraction},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2021},
month = jun,