The book written by Dr. Radu B. Rusu presents a detailed description of
3D Semantic Mapping in the context of mobile robot manipulation. As
autonomous robotic platforms get more sophisticated manipulation
capabilities, they also need more expressive and comprehensive
environment models that include the objects present in the world,
together with their position, form, and other semantic aspects, as well
as interpretations of these objects with respect to the robot tasks.
The book proposes novel 3D feature representations called Point Feature
Histograms (PFH), as well as a frameworks for the acquisition and
processing of Semantic 3D Object Maps with contributions to robust
registration, fast segmentation into regions, and reliable object
detection, categorization, and reconstruction. These contributions have
been fully implemented and empirically evaluated on different robotic
systems, and have been the original kernel to the widely successful
open-source project the Point Cloud Library (PCL) -- see http:
//pointclouds.org.