Efficient Multi-resolution Plane Segmentation of 3D Point Clouds

@inproceedings{Oehler2011EfficientMP,
  title={Efficient Multi-resolution Plane Segmentation of 3D Point Clouds},
  author={Bastian Oehler and J{\"o}rg St{\"u}ckler and Jochen Welle and Dirk Schulz and Sven Behnke},
  booktitle={ICIRA},
  year={2011}
}
We present an efficient multi-resolution approach to segment a 3D point cloud into planar components. In order to gain efficiency, we process large point clouds iteratively from coarse to fine 3D resolutions: At each resolution, we rapidly extract surface normals to describe surface elements (surfels). We group surfels that cannot be associated with planes from coarser resolutions into coplanar clusters with the Hough transform. We then extract connected components on these clusters and… CONTINUE READING
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