Title: Estimation of Planar Surfaces in Noisy Range Images for the RoboCup Rescue Competition
Authors: Steinmez, Sarah
Pellenz, Johannes
Paulus, Dietrich
Citation: WSCG '2007: Full Papers Proceedings: The 15th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2007 in co-operation with EUROGRAPHICS: University of West Bohemia Plzen Czech Republic, January 29 – February 1, 2007, p. 73-80.
Issue Date: 2007
Publisher: Václav Skala - UNION Agency
Document type: konferenční příspěvek
URI: http://wscg.zcu.cz/wscg2007/Papers_2007/full/!WSCG2007_Full_Proceedings_Final-1.zip
ISBN: 978-80-86943-98-5
Keywords: 3D modely;rekonstrukce modelu;reprezentace hranice;zpracování obrazu;počítačové vidění
Keywords in different language: 3D models;boundary representattion;model reconstruction;image processing;computer vision
Abstract: In this contribution we present a comprehensive method to extract connected planar polygons from a range image acquired by a laser range camera. The result is a boundary representation of the objects in the scene. The approximation of the detected planes by three–dimensional polygons can be used as a source for feature–based registration of sequential range images. We focus on the processing of range images that are segmented into planar regions. The polygon of each plane is extracted by incremental line fitting on the 2D contour of the segmented region projected onto the xy–plane followed by the propagation to the corresponding 3D–plane. We present a novel idea for joining these three–dimensional polygons. Due to sparsely distributed depth values of inclined planes and noise in areas of object edges, some planes cannot be segmented completely. Therefore object edges that actually represent one edge drift apart in 3D. Such edges are detected and joined. The direction in which each edge is moved, is determined by a confidence measure, depending on the slope of the plane. We describe our experiments on range data of scenes containing planar as well as curved surfaces and give quantitative results. The estimates are compared to measurements that were manually taken. For cubic objects we compare the angles of the estimated polygons to the expected orthogonality. For approximately 70 planar surface patches we get an average error of 5 degrees. 83 percent of successfully segmented lines are joint correctly by the algorithm.
Rights: © Václav Skala - UNION Agency
Appears in Collections:WSCG '2007: Full Papers Proceedings

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Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/11000

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