Real-Time Estimation of Planar Surfaces in Arbitrary Environments Using Microsoft Kinect Sensor

被引：0

作者：

Castaldo, Francesco ^{[1
]}

Lippiello, Vincenzo ^{[2
]}

Palmieri, Francesco A. N.

Siciliano, Bruno

机构：

[1] Univ Naples 2, Dipartimento Ingn Ind & Informaz, Via Roma 29, I-81031 Aversa, CE, Italy

[2] Univ Naples Federico II, Dipartimento Ingn Elettr & Tecnol Informz, I-80125 Naples, Italy

来源：

IMAGE ANALYSIS AND PROCESSING (ICIAP 2013), PT II | 2013年 / 8157卷

关键词：

Microsoft Kinect; Real-time 3D Reconstruction; Planes extraction; Point Cloud;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We propose an algorithm, suitable for real-time robot applications, for modeling and reconstruction of complex scenes. The environment is seen as a collection of planes and the algorithm extracts in real time their parameters from the 3D point cloud provided by the Kinect sensor. The execution speed of the procedure depends on the desired reconstruction quality and on the complexity of the surroundings. Implementation issues are discussed and experiments on a real scene are included.

引用

页码：552 / 561

页数：10

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