Fast incremental 3D plane extraction from a collection of 2D line segments for 3D mapping

@article{An2012FastI3,
  title={Fast incremental 3D plane extraction from a collection of 2D line segments for 3D mapping},
  author={Su-Yong An and Lae-Kyoung Lee and Se-Young Oh},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={4530-4537}
}
Three-dimensional (3D) data processing has recently acquired greater importance in solving complex tasks such as object recognition, environment modeling, and robotic mapping and localization. Since using raw 3D data without preprocessing is very time-consuming, extraction of geometric features that describe the environment concisely is essential. A plane is a suitable geometric feature due to its richness and simplicity of extraction. This paper presents an online incremental plane extraction… CONTINUE READING