Detail publikace

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

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

Originální název

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

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

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

Autoři

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

Rok RIV

2013

Vydáno

28. 4. 2013

ISSN

1047-3203

Periodikum

JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION

Ročník

25

Číslo

1

Stát

Spojené státy americké

Strany od

86

Strany do

97

Strany počet

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"
}