Publication Details

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

HULÍK, R.; ŠPANĚL, M.; MATERNA, Z.; SMRŽ, P. Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform. JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION, 2013, vol. 25, no. 1, p. 86-97. ISSN: 1047-3203.
Czech title
Detekce rovin v point-cloud datech založená na 3D Houghově transformaci
Type
journal article
Language
English
Authors
Hulík Rostislav, Ing.
Španěl Michal, Ing., Ph.D. (DCGM)
Materna Zdeněk, Ing., Ph.D. (DCGM)
Smrž Pavel, doc. RNDr., Ph.D. (DCGM)
URL
Keywords

RGB-D sensor, point cloud, Hough transform, plane detection, PCL library, RANSAC, computer vision, shape extraction

Abstract

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.

Published
2013
Pages
86–97
Journal
JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION, vol. 25, no. 1, ISSN 1047-3203
Book
Visual Understanding and Applications with RGB-D Cameras
DOI
10.1016/j.jvcir.2013.04.001
BibTeX 
@article{BUT103422,
  author="Rostislav {Hulík} and Michal {Španěl} and Zdeněk {Materna} and Pavel {Smrž}",
  title="Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform",
  journal="JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION",
  year="2013",
  volume="25",
  number="1",
  pages="86--97",
  doi="10.1016/j.jvcir.2013.04.001",
  issn="1047-3203",
  url="http://www.sciencedirect.com/science/article/pii/S104732031300062X"
}
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