Segmentation of 3D Point Clouds for Weak Texture Ground Plane

被引：0

作者：

Geng, Ming-can ^{[1
]}

Bi, Sheng ^{[1
]}

Wei, Zhi-xuan ^{[1
]}

Yan, Quan-fa ^{[1
]}

机构：

[1] South China Univ Technol, Sch Comp Sci & Engn, Guangzhou 510006, Peoples R China

来源：

2020 IEEE INTL CONF ON DEPENDABLE, AUTONOMIC AND SECURE COMPUTING, INTL CONF ON PERVASIVE INTELLIGENCE AND COMPUTING, INTL CONF ON CLOUD AND BIG DATA COMPUTING, INTL CONF ON CYBER SCIENCE AND TECHNOLOGY CONGRESS (DASC/PICOM/CBDCOM/CYBERSCITECH) | 2020年

基金：

中国国家自然科学基金;

关键词：

3D Point Clouds Segmentation; Ground Plane; Weak Texture;

D O I：

10.1109/DASC-PICom-CBDCom-CyberSciTech49142.2020.00034

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The segmentation of 3D point clouds for ground plane can generate drivable area for robots' autonomous navigation. And Compared with lasers for generating 3D point clouds, cameras can provide more information and have higher scalability. However, in the process of using the camera to generate 3d point clouds of the ground, the ground lacks texture. Therefore, the ground is often be lacked in the 3D point clouds. A segmentation of 3D point clouds for weak texture ground plane method is proposed in this paper. Firstly, point cloud pretreatment process is designed by using down sampling methods. Secondly, Euclidean-clustering algorithm is used for segment of the point clouds. Thirdly, vertical projection and plane fitting based on RANSAC algorithm are proposed. Fourthly, feasible region refers to the area which the robot can safely pass is segmented. Finally, the method that proposed in this paper is verified using experiments.

引用

页码：124 / 129

页数：6

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