ShanghaiTech University Knowledge Management System
Exracting Multiple Planar Surfaces Effrctively and Efficiently Based on 3D Depth Sensors | |
Ziran Xing1; Zhiru Shi2 | |
2019 | |
发表期刊 | IEEE ACCESS |
ISSN | 2169-3536 |
卷号 | 7页码:7326-7336 |
发表状态 | 已发表 |
DOI | 10.1109/ACCESS.2018.2889957 |
摘要 | Reliable and efficient planar surface extraction based on the 3D depth sensors is a crucial component in mobile robotics. However, extracting planes efficiently remains challenging, especially when small planar structures are urged to be perceived. This paper proposes a new method that can extract the multi-scale planar surfaces efficiently. The depth image is dynamically divided into rectangle regions, where points in each region lie on a common plane. Then, the planar primitives are generated by clustering these regions into some distinct groups according to their plane parameters. Finally, the pixel-wise segmentation results are achieved by growing each distinct group. The first novelty is the dynamic region size adjusting algorithm that can reduce the number of regions to be clustered and improve the plane fitting accuracy. The second one is the region clustering algorithm, whose worst-case time complexity is guaranteed to be log-linear. Comprehensive experiments show that our algorithm outperforms the state-of-the-art methods in quality and runs an order of magnitude faster. |
关键词 | Computer vision depth sensor planar region clustering plane extraction robot vision systems |
URL | 查看原文 |
收录类别 | SCI ; SCIE ; EI |
语种 | 英语 |
资助项目 | STCSM[17JC1403800] |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
WOS类目 | Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications |
WOS记录号 | WOS:000457071900001 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
WOS关键词 | RANGE IMAGE SEGMENTATION ; EXTRACTION |
原始文献类型 | Article |
来源库 | IEEE |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/30230 |
专题 | 信息科学与技术学院 信息科学与技术学院_PI研究组_虞晶怡组 |
作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.School of Information Science and Technology, ShanghaiTech University, Shanghai, China |
推荐引用方式 GB/T 7714 | Ziran Xing,Zhiru Shi. Exracting Multiple Planar Surfaces Effrctively and Efficiently Based on 3D Depth Sensors[J]. IEEE ACCESS,2019,7:7326-7336. |
APA | Ziran Xing,&Zhiru Shi.(2019).Exracting Multiple Planar Surfaces Effrctively and Efficiently Based on 3D Depth Sensors.IEEE ACCESS,7,7326-7336. |
MLA | Ziran Xing,et al."Exracting Multiple Planar Surfaces Effrctively and Efficiently Based on 3D Depth Sensors".IEEE ACCESS 7(2019):7326-7336. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 |
个性服务 |
查看访问统计 |
谷歌学术 |
谷歌学术中相似的文章 |
[Ziran Xing]的文章 |
[Zhiru Shi]的文章 |
百度学术 |
百度学术中相似的文章 |
[Ziran Xing]的文章 |
[Zhiru Shi]的文章 |
必应学术 |
必应学术中相似的文章 |
[Ziran Xing]的文章 |
[Zhiru Shi]的文章 |
相关权益政策 |
暂无数据 |
收藏/分享 |
修改评论
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。