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http://dx.doi.org/10.9708/jksci.2014.19.11.053

Indoor environment recognition based on depth image  

Kim, Su-Kyung (Dept. of Media, Soongsil University)
Choi, Hyung-Il (Dept. of Media, Soongsil University)
Publication Information
Journal of the Korea Society of Computer and Information / v.19, no.11, 2014 , pp. 53-61 More about this Journal
Abstract
In this paper, we propose a method using an image received by the depth camera in order to separate the wall in a three-dimensional space indoor environment. Results of the paper may be used to provide valuable information on the three-dimensional space. For example, they may be used to recognize the indoor space, to detect adjacent objects, or to project a projector on the wall. The proposed method first detects a normal vector at each point by using the three dimensional coordinates of points. The normal vectors are then clustered into several groups according to similarity. The RANSAC algorithm is applied to separate out planes. The domain knowledge helps to determine the wall among planes in an indoor environment. This paper concludes with experimental results that show performance of the proposed method in various experimental environment.
Keywords
Normal vector; RANSAC; Plane;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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