Theta-Disparity: An Efficient Representation of the 3D Scene Structure

  • Lazaros Nalpantidis
  • Danica Kragic
  • Ioannis Kostavelis
  • Antonios Gasteratos
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


We propose a new representation of 3D scene structure, named theta-disparity. The proposed representation is a 2D angular depth histogram that is calculated using a disparity map. It models the structure of the prominent objects in the scene and reveals their radial distribution relative to a point of interest. The proposed representation is analyzed and used as a basic attention mechanism to autonomously resolve two different robotic scenarios. The method is efficient due to the low computational complexity. We show that the method can be successfully used for the planning of different tasks in the industrial and service robotics domains, e.g., object grasping, manipulation, plane extraction, path detection, and obstacle avoidance.


3D scene understanding Object detection Autonomous robotics Industrial and service robots 



This work has been supported by the Swedish Foundation for Strategic Research and the European Commission through the research projects “Extending Sensorimotor Contingencies to Cognition (eSMCs)”, FP7-ICT-2009-6-270212 and “Sustainable and Reliable Robotics for Part Handling in Manufacturing Automation (STAMINA)”, FP7-ICT-2013-10-610917.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Lazaros Nalpantidis
    • 1
  • Danica Kragic
    • 2
  • Ioannis Kostavelis
    • 3
  • Antonios Gasteratos
    • 3
  1. 1.Robotics, Vision and Machine Intelligence Laboratory, Department of Mechanical and Manufacturing EngineeringAalborg University CopenhagenCopenhagenDenmark
  2. 2.Computer Vision and Active Perception Laboratory, Centre for Autonomous SystemsRoyal Institute of Technology (KTH)StockholmSweden
  3. 3.Robotics and Automation Laboratory, Production and Management Engineering DepartmentDemocritus University of ThraceXanthiGreece

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