An extended normalized cuts method for real-time planar feature extraction from noisy range images

@article{Hegde2010AnEN,
  title={An extended normalized cuts method for real-time planar feature extraction from noisy range images},
  author={Guruprasad M. Hegde and Cang Ye and Gary Anderson},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={1190-1195}
}
This paper presents a new method for extracting planar features from noisy range data. The method encodes the local geometric information (surface normals) and global spatial information (coordinates) of 3D data points into an Enhanced Range Image (ERI) which is then clustered into a number of homogeneous groups, called Super Pixels (SPs). The Normalized Cuts (NC) method is employed to the graph built on the SPs and groups the SPs into planar segments. The ERI coding enhances object surfaces… CONTINUE READING