Exracting Multiple Planar Surfaces Effrctively and Efficiently Based on 3D Depth Sensors
Ziran Xing1; Zhiru Shi2
2019
发表期刊IEEE ACCESS
ISSN2169-3536
卷号7页码:7326-7336
发表状态已发表
DOI10.1109/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
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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
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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
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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.
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