A Robust Method for Fitting a Plane to Point Clouds
A Robust Method for Fitting a Plane to Point Clouds
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发表时间：
2008
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通讯作者：
Shi Guigang
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作者：
Shi Guigang
传统的点云平面拟合方法由于没有考虑粗差和野值的影响，导致平面参数估计结果不准确。本文提出了一种稳健的点云平面拟合方法，该方法是在特征值法的基础上，通过剔除点云中的野值，可以得到一个稳健的平面拟合参数解，并进行了解析模拟实验，并与传统的最小二乘法、特征值法等方法进行了比较，结果表明：该方法克服了野值的影响，提高了参数估计的可靠性。
The results of planar parameters estimation are not accurate by traditional plane fitting methods to point clouds,because the gross error and outliers are not considered.This paper presents a robust method for fitting local plane to point clouds.The proposed method,named robust eigenvalue method,is based on eigenvalue method.Through deleting outliers from point clouds,a robust solution to plane fitting parameter can be obtained.Analytical simulation experiment was conducted,and a comparative study was also made between the proposed and traditional methods such as least square method and eigenvalue method.The results show that the method can overcome the influence from outliers,and improve the reliability of parameter estimation.