Plane segment finder: algorithm, implementation and applications
Plane segment finder: algorithm, implementation and applications
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DOI：
10.1109/robot.2001.932920
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发表时间：
2001-05
期刊：
影响因子：
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通讯作者：
K. Okada;S. Kagami;M. Inaba;H. Inoue
中科院分区：
文献类型：
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作者：
K. Okada;S. Kagami;M. Inaba;H. Inoue
本文介绍了一个平面段发现，这是能够检测输入图像中的实时三维平面表面的发展。我们提出了一种用于检测平面片段的算法，该算法包括：1）使用3D Hough变换从深度图信息提取平面片段候选者;以及2）将平面片段候选者拟合到深度图以便检测部分平面片段，因为所提取的平面片段候选者是没有边界的一般平面。为了实现实时的平面片段查找系统，我们应用：1）递归相关方法生成深度图; 2）随机Hough变换提取平面片段。最后，使用我们的系统沿着与人形机器人的实施实验结果。
This paper describes the development of a plane segment finder, which is able to detect three-dimensional planar surfaces from input images in real-time. We propose an algorithm for detecting plane segments, that includes: 1) plane segment candidate extraction using the 3D Hough transform from depth map information; and 2) fitting the plane segment candidates to the depth map in order to detect the partial plane segment, since the extracted plane segment candidates are general planes, with no boundary. To achieve real-time plane segment finding system, we apply: 1) the recursive correlation method for depth map generation; and 2) the randomized Hough transform for plane segment extraction. Finally, experimental results using an implementation of our system along with a humanoid robot are shown.