Journal article

HULÍK Rostislav, ŠPANĚL Michal, MATERNA Zdeněk and SMRŽ Pavel. Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform. Journal of Visual Communication and Image Representation. Amsterdam: Elsevier Science, 2013, vol. 25, no. 1, pp. 86-97. ISSN 1047-3203. Available from: http://www.sciencedirect.com/science/article/pii/S104732031300062X
Publication language:english
Original title:Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform
Title (cs):Detekce rovin v point-cloud datech založená na 3D Houghově transformaci
Pages:86-97
Book:Visual Understanding and Applications with RGB-D Cameras
Place:NL
Year:2013
URL:http://www.sciencedirect.com/science/article/pii/S104732031300062X
Journal:Journal of Visual Communication and Image Representation, Vol. 25, No. 1, Amsterdam, NL
ISSN:1047-3203
URL:https://wis.fit.vutbr.cz/FIT/db/dir.php/dr/IT4I/publikace/VP7/archiv/Hulik_13_Q3-1.pdf [PDF]
Keywords
RGB-D sensor, point cloud, Hough transform, plane
detection, PCL library, RANSAC, computer vision, shape extraction
Annotation
In modern robotics vision systems, a shape extraction from point clouds (or depth images) is an important and still discussed  topic. We present significant optimizations of 3D Hough Transform for a plane extraction from point cloud data. The method aims to overcome noise present in these point clouds, high memory requirements for the parameter space and computational complexity of point accumulations. All these problems are further discussed and solutions are proposed to design a robust plane detector. The detector benefits from the key principle of the Hough transform, the accumulation of values in the parameter space, and processes continuous point cloud stream from the depth sensor for iterative refining of results. The proposed technique is compared against the optimized implementation of RANSAC-based plane detector in the well-known PCL library.
BibTeX:
@ARTICLE{
   author = {Rostislav Hul{\'{i}}k and Michal {\v{S}}pan{\v{e}}l and
	Zden{\v{e}}k Materna and Pavel Smr{\v{z}}},
   title = {Continuous Plane Detection in Point-cloud Data Based on 3D
	Hough Transform},
   pages = {86--97},
   booktitle = {Visual Understanding and Applications with RGB-D Cameras},
   journal = {Journal of Visual Communication and Image Representation},
   volume = {25},
   number = {1},
   year = {2013},
   ISSN = {1047-3203},
   language = {english},
   url = {http://www.fit.vutbr.cz/research/view_pub.php.en.iso-8859-2?id=10097}
}

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