An Open-source Library for Processing of 3D Data from Indoor Scenes

José María Martínez-Otzeta, Iñigo Mendialdua, Itsaso Rodríguez-Moreno, Igor Rodriguez, Basilio Sierra

2022

Abstract

In recent years affordable 3D data acquisition devices have appeared in the market. Researchers and developers have been able to use them in a much larger scale than ever in a wide range of applications, from robotics to autonomous driving. One of these applications is the processing of 3D indoor scenes, usually in the context of autonomous navigation of mobile robots, but also in building mapping for map reconstruction or assessment of the location of structural elements. In this paper we report on the development of an open source Python package (indoor3d) for processing of 3D data obtained indoors. This package is built on top of the Open3D package, with the aim of making easier to perform common tasks that arise in indoor data processing. It has already been helpful in tasks in two different projects: in one of them was useful in the search of structural elements in a pointcloud obtained by a HoloLens device, and in the other in the location of the handle of a door for a mobile robot navigation application.

Paper Citation

in Harvard Style

Martínez-Otzeta J., Mendialdua I., Rodríguez-Moreno I., Rodriguez I. and Sierra B. (2022). An Open-source Library for Processing of 3D Data from Indoor Scenes. In Proceedings of the 11th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-549-4, pages 610-615. DOI: 10.5220/0010870100003122

in Bibtex Style

@conference{icpram22,
author={José María Martínez-Otzeta and Iñigo Mendialdua and Itsaso Rodríguez-Moreno and Igor Rodriguez and Basilio Sierra},
title={An Open-source Library for Processing of 3D Data from Indoor Scenes},
booktitle={Proceedings of the 11th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2022},
pages={610-615},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010870100003122},
isbn={978-989-758-549-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - An Open-source Library for Processing of 3D Data from Indoor Scenes
SN - 978-989-758-549-4
AU - Martínez-Otzeta J.
AU - Mendialdua I.
AU - Rodríguez-Moreno I.
AU - Rodriguez I.
AU - Sierra B.
PY - 2022
SP - 610
EP - 615
DO - 10.5220/0010870100003122