Automatic building detection from aerial images for mobile robot mapping

Persson, M. and Sandvall, M. and Duckett, T. (2005) Automatic building detection from aerial images for mobile robot mapping. In: 6th International Symposium on Computational Intelligence in Robotics and Automation (CIRA), 27-30 June 2005, Espoo, Finland.

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Abstract

To improve mobile robot outdoor mapping, information about the shape and location of buildings is of
interest. This paper describes a system for automatic detection of buildings in aerial images taken from a nadir view. The system builds two types of independent hypotheses based on the image contents. A segmentation process implemented as an ensemble of SOMs (Self Organizing Maps) is trained and used to create a segmented image showing different types of roofs, vegetation and sea. A second type of hypotheses is based on an edge image produced from the aerial photo. A line extraction process uses the edge image as input and extracts lines from it. From these edges, corners and rectangles that represent buildings are constructed. A classification process uses the information from both hypotheses to determine whether the rectangles are buildings, unsure buildings or unknown objects.

Keywords:Automatic building detection, aerial images, semi-autonomous mapping, semantic mapping
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
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ID Code:29843
Deposited On:30 Nov 2017 20:40

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