Publication detail

Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform

HULÍK, R. ŠPANĚL, M. MATERNA, Z. SMRŽ, P.

Original Title

Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform

Type

journal article - other

Language

English

Original Abstract

In modern robotics vision systems, a shape extraction from point clouds (or depth images) is an important and still discussed  topic. We present significant optimizations of 3D Hough Transform for a plane extraction from point cloud data. The method aims to overcome noise present in these point clouds, high memory requirements for the parameter space and computational complexity of point accumulations. All these problems are further discussed and solutions are proposed to design a robust plane detector. The detector benefits from the key principle of the Hough transform, the accumulation of values in the parameter space, and processes continuous point cloud stream from the depth sensor for iterative refining of results. The proposed technique is compared against the optimized implementation of RANSAC-based plane detector in the well-known PCL library.

Keywords

RGB-D sensor, point cloud, Hough transform, plane detection, PCL library, RANSAC, computer vision, shape extraction

Authors

HULÍK, R.; ŠPANĚL, M.; MATERNA, Z.; SMRŽ, P.

RIV year

2013

Released

28. 4. 2013

ISBN

1047-3203

Periodical

JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION

Year of study

25

Number

1

State

United States of America

Pages from

86

Pages to

97

Pages count

12

URL

http://www.sciencedirect.com/science/article/pii/S104732031300062X

BibTex

@article{BUT103422,
  author="Rostislav {Hulík} and Michal {Španěl} and Zdeněk {Materna} and Pavel {Smrž}",
  title="Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform",
  journal="JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION",
  year="2013",
  volume="25",
  number="1",
  pages="86--97",
  doi="10.1016/j.jvcir.2013.04.001",
  issn="1047-3203",
  url="http://www.sciencedirect.com/science/article/pii/S104732031300062X"
}