Normalized Cuts and Image Segmentation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic Extraction of Planar Projections from Panoramic Range Images
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Range image segmentation using surface selection criterion
IEEE Transactions on Image Processing
Mobile robot localization through identifying spatial relations from detected corners
IWINAC'11 Proceedings of the 4th international conference on Interplay between natural and artificial computation: new challenges on bioinspired applications - Volume Part II
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Mobile robot map building from time-of-flight camera
Expert Systems with Applications: An International Journal
Three-dimensional point cloud plane segmentation in both structured and unstructured environments
Robotics and Autonomous Systems
Object segmentation and classification using 3-D range camera
Journal of Visual Communication and Image Representation
Hi-index | 0.00 |
This paper describes a new approach to extract planar features from 3D range data captured by a range imaging sensor?the SwissRanger SR-3000. The focus of this work is to segment vertical and horizontal planes from range images of indoor environments. The method first enhances a range image by using the surface normal information. It then partitions the Normal Enhanced Range Images (NERI) into a number of segments using the Normalized-Cuts (N-Cuts) algorithm. A least-square plane is fit to each segment and the fitting error is used to determine if the segment is planar or not. From the resulting planar segments, each vertical or horizontal segment is labeled based on the normal of its least-square plane. A pair of vertical or horizontal segments is merged if they are neighbors. Through this region growing process, the vertical and horizontal planes are extracted from the range data. The proposed method has a myriad of applications in navigating mobile robots in indoor environments.