3D point cloud;
Plane segmentation;
Region growing;
3D;
REGISTRATION;
INDOOR;
MAPS;
D O I:
10.1016/j.robot.2013.07.001
中图分类号:
TP [自动化技术、计算机技术];
学科分类号:
0812 ;
摘要:
This paper focuses on three-dimensional (3D) point cloud plane segmentation. Two complementary strategies are proposed for different environments, i.e., a subwindow-based region growing (SBRG) algorithm for structured environments, and a hybrid region growing (HRG) algorithm for unstructured environments. The point cloud is decomposed into subwindows first, using the points' neighborhood information when they are scanned by the laser range finder (LRF). Then, the subwindows are classified as planar or nonplanar based on their shape. Afterwards, only planar subwindows are employed in the former algorithm, whereas both kinds of subwindows are used in the latter. In the growing phase, planar subwindows are investigated directly (in both algorithms), while each point in nonplanar subwindows is investigated separately (only in HRG). During region growing, plane parameters are computed incrementally when a subwindow or a point is added to the growing region. This incremental methodology makes the plane segmentation fast. The algorithms have been evaluated using real-world datasets from both structured and unstructured environments. Furthermore, they have been benchmarked against a state-of-the-art point-based region growing (PBRG) algorithm with regard to segmentation speed. According to the results, SBRG is 4 and 9 times faster than PBRG when the subwindow size is set to 3 x 3 and 4 x 4 respectively; HRG is 4 times faster than PBRG when the subwindow size is set to 4 x 4. Open-source code for this paper is available at https://github.com/junhaoxiao/TAMS-Planar-Surface-Based-Perception.git. (C) 2013 Elsevier B.V. All rights reserved.
机构:
China Univ Min & Technol, Coll Geosci & Surveying Engn, Beijing 100083, Peoples R ChinaChina Univ Min & Technol, Coll Geosci & Surveying Engn, Beijing 100083, Peoples R China
Yang, Su
论文数: 引用数:
h-index:
机构:
Hou, Miaole
Li, Songnian
论文数: 0引用数: 0
h-index: 0
机构:
Toronto Metropolitan Univ, Dept Civil Engn, Toronto, ON M5B 2K3, CanadaChina Univ Min & Technol, Coll Geosci & Surveying Engn, Beijing 100083, Peoples R China
机构:
Govt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, IndiaGovt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, India
Singh, Puyam S.
Nongsiej, Iainehborlang M.
论文数: 0引用数: 0
h-index: 0
机构:
St Anthonys Coll, Dept Comp Sci, Shillong 793001, IndiaGovt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, India
Nongsiej, Iainehborlang M.
Marboh, Valarie
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h-index: 0
机构:
St Anthonys Coll, Dept Comp Sci, Shillong 793001, IndiaGovt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, India
Marboh, Valarie
Chutia, Dibyajyoti
论文数: 0引用数: 0
h-index: 0
机构:
Govt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, IndiaGovt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, India
Chutia, Dibyajyoti
Saikhom, Victor
论文数: 0引用数: 0
h-index: 0
机构:
Govt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, IndiaGovt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, India
Saikhom, Victor
Aggarwal, S. P.
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h-index: 0
机构:
Govt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, IndiaGovt India, North Eastern Space Applicat Ctr, Dept Space, Umiam 793103, India
机构:
Southwest Univ Finance & Econ, Informat & Big Data Management Ctr, 555 Liutai Ave, Chengdu 611130, Peoples R ChinaSouthwest Univ Finance & Econ, Informat & Big Data Management Ctr, 555 Liutai Ave, Chengdu 611130, Peoples R China
Fang, Kun
Xu, Kaiming
论文数: 0引用数: 0
h-index: 0
机构:
Peking Univ, Sch Elect Engn & Comp Sci, Beijing 100871, Peoples R ChinaSouthwest Univ Finance & Econ, Informat & Big Data Management Ctr, 555 Liutai Ave, Chengdu 611130, Peoples R China
Xu, Kaiming
Wu, Zhigang
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h-index: 0
机构:
China Aerodynam Res & Dev Ctr, Mianyang 621000, Peoples R ChinaSouthwest Univ Finance & Econ, Informat & Big Data Management Ctr, 555 Liutai Ave, Chengdu 611130, Peoples R China
Wu, Zhigang
Huang, Tengchao
论文数: 0引用数: 0
h-index: 0
机构:
Zhejiang Univ, State Key Lab Modern Opt Instrumentat, 38 Zheda Rd, Hangzhou 310027, Peoples R ChinaSouthwest Univ Finance & Econ, Informat & Big Data Management Ctr, 555 Liutai Ave, Chengdu 611130, Peoples R China
Huang, Tengchao
Yang, Yubang
论文数: 0引用数: 0
h-index: 0
机构:
Zhejiang Univ, State Key Lab Modern Opt Instrumentat, 38 Zheda Rd, Hangzhou 310027, Peoples R ChinaSouthwest Univ Finance & Econ, Informat & Big Data Management Ctr, 555 Liutai Ave, Chengdu 611130, Peoples R China