The 3d hough transform for plane detection in point clouds: A review and a new accumulator design
Abstract The Hough Transform is a well-known method for detecting parameterized objects.
It is the de facto standard for detecting lines and circles in 2-dimensional data sets. For 3D it …
It is the de facto standard for detecting lines and circles in 2-dimensional data sets. For 3D it …
Segmatch: Segment based place recognition in 3d point clouds
Place recognition in 3D data is a challenging task that has been commonly approached by
adapting image-based solutions. Methods based on local features suffer from ambiguity and …
adapting image-based solutions. Methods based on local features suffer from ambiguity and …
[PDF][PDF] Fetch and freight: Standard platforms for service robot applications
M Wise, M Ferguson, D King, E Diehr… - Workshop on …, 2016 - docs.fetchrobotics.com
Since the introduction and widespread adoption of the Robot Operating System (ROS), the
mobile manipulation and mobile service robot communities have seen great advances in …
mobile manipulation and mobile service robot communities have seen great advances in …
An improved RANSAC for 3D point cloud plane segmentation based on normal distribution transformation cells
L Li, F Yang, H Zhu, D Li, Y Li, L Tang - Remote Sensing, 2017 - mdpi.com
Plane segmentation is a basic task in the automatic reconstruction of indoor and urban
environments from unorganized point clouds acquired by laser scanners. As one of the most …
environments from unorganized point clouds acquired by laser scanners. As one of the most …
Depth camera based indoor mobile robot localization and navigation
The sheer volume of data generated by depth cameras provides a challenge to process in
real time, in particular when used for indoor mobile robot localization and navigation. We …
real time, in particular when used for indoor mobile robot localization and navigation. We …
Fast plane extraction in organized point clouds using agglomerative hierarchical clustering
Real-time plane extraction in 3D point clouds is crucial to many robotics applications. We
present a novel algorithm for reliably detecting multiple planes in real time in organized …
present a novel algorithm for reliably detecting multiple planes in real time in organized …
An online multi-robot SLAM system for 3D LiDARs
Using multiple cooperative robots is advantageous for time critical Search and Rescue
(SaR) missions as they permit rapid exploration of the environment and provide higher …
(SaR) missions as they permit rapid exploration of the environment and provide higher …
LiDAR SLAM with plane adjustment for indoor environment
Planes ubiquitously exist in the indoor environment. This letter presents a real-time and low-
drift LiDAR SLAM system using planes as the landmark for the indoor environment. Our …
drift LiDAR SLAM system using planes as the landmark for the indoor environment. Our …
Fast registration based on noisy planes with unknown correspondences for 3-D map**
We present a robot-pose-registration algorithm, which is entirely based on large planar-
surface patches extracted from point clouds sampled from a three-dimensional (3-D) sensor …
surface patches extracted from point clouds sampled from a three-dimensional (3-D) sensor …
Real-time detection of planar regions in unorganized point clouds
Automatic detection of planar regions in point clouds is an important step for many graphics,
image processing, and computer vision applications. While laser scanners and digital …
image processing, and computer vision applications. While laser scanners and digital …