11 March 1993 Fast extraction of planar surfaces from range images
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In this paper we present a novel technique for rapidly partitioning surfaces in range images into planar patches. Essential for our segmentation method is the observation that in a scan line the points belonging to a planar surface form a straight line segment. Based on this observation, we first divide each scan line into straight line segments and subsequently consider only the set of line segments of all scan lines as segmentation primitives. The principle of our segmentation method is region growing in terms of line segments. We use a noise variance estimation to automatically set thresholds so that the algorithm can adapt to the noise conditions of different range images. The proposed algorithm has been tested on a large number of real range images acquired by two different range sensors. Experimental results show that the proposed algorithm is fast and robust.
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Xiaoyi Jiang, Xiaoyi Jiang, Horst Bunke, Horst Bunke, } "Fast extraction of planar surfaces from range images", Proc. SPIE 1964, Applications of Artificial Intelligence 1993: Machine Vision and Robotics, (11 March 1993); doi: 10.1117/12.141769; https://doi.org/10.1117/12.141769


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