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

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F13%3APU106282" target="_blank" >RIV/00216305:26230/13:PU106282 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S104732031300062X" target="_blank" >http://www.sciencedirect.com/science/article/pii/S104732031300062X</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.jvcir.2013.04.001" target="_blank" >10.1016/j.jvcir.2013.04.001</a>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_ost - Ostatní články v recenzovaných periodicích

CEP obor

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OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION

ISSN

1047-3203

e-ISSN

1095-9076

Svazek periodika

25

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

12

Strana od-do

86-97

Kód UT WoS článku

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EID výsledku v databázi Scopus

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