The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Method to Detect Multiple Plane Areas by using the Iterative Randomized Hough Transform(IRHT) and the Plane Detection

평면 추출셀과 반복적 랜덤하프변환을 이용한 다중 평면영역 분할 방법

  • 임성조 (부산대학교 기계공학부 제어자동화시스템) ;
  • 김대광 (부산대학교 기계공학부 제어자동화시스템) ;
  • 강동중 (부산대 기계공학부)
  • Published : 2008.11.01
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Abstract

Finding a planar surface on 3D space is very important for efficient and safe operation of a mobile robot. In this paper, we propose a method using a plane detection cell (PDC) and iterative randomized Hough transform (IRHT) for finding the planar region from a 3D range image. First, the local planar region is detected by a PDC from the target area of the range image. Each plane is then segmented by analyzing the accumulated peaks from voting the local direction and position information of the local PDC in Hough space to reduce effect of noises and outliers and improve the efficiency of the HT. When segmenting each plane region, the IRHT repeatedly decreases the size of the planar region used for voting in the Hough parameter space in order to reduce the effect of noise and solve the local maxima problem in the parameter space. In general, range images have many planes of different normal directions. Hence, we first detected the largest plane region and then the remained region is again processed. Through this procedure, we can segment all planar regions of interest in the range image.

Keywords

References

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