Short Communication to SMI 2011: Identifying rectangles in laser range data for urban scene reconstruction

Authors:
Thijs van Lankveld;Marc van Kreveld;Remco Veltkamp
Affiliations:
Utrecht University, Department of Information and Computing Sciences, Princetonplein 5, 3584CC Utrecht, The Netherlands;Utrecht University, Department of Information and Computing Sciences, Princetonplein 5, 3584CC Utrecht, The Netherlands;Utrecht University, Department of Information and Computing Sciences, Princetonplein 5, 3584CC Utrecht, The Netherlands
Venue:
Computers and Graphics
Year:
2011

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Abstract

In urban scenes, many of the surfaces are planar and bounded by simple shapes. In a laser scan of such a scene, these simple shapes can still be identified. We present a one-parameter algorithm that can identify point sets on a plane for which a rectangle is a fitting boundary. These rectangles have a guaranteed density: no large part of the rectangle is empty of points. We prove that our algorithm identifies all angles for which a rectangle fits the point set of size n in O(nlogn) time. We evaluate our method experimentally on 13 urban data sets and we compare the rectangles found by our algorithm to the @a@?shape as a surface boundary.