Fast planar clustering and polygon extraction from noisy range images acquired in indoor environments

@article{Kaushik2010FastPC,
  title={Fast planar clustering and polygon extraction from noisy range images acquired in indoor environments},
  author={Ravi Kaushik and Jizhong Xiao and Samleo L. Joseph and William Morris},
  journal={2010 IEEE International Conference on Mechatronics and Automation},
  year={2010},
  pages={483-488}
}
This paper presents a novel algorithm to cluster planar points and extract polygons from 3D range images acquired in an indoor environment. The algorithm replaces large number of data points in the range image with polygons that fits the planar regions of the indoor environment resulting in high data compression. The 3D range image is acquired by panning a laser scanner and the data is stored in a 2D array. The elements in the array are stored as spherical coordinates and the indices of the… CONTINUE READING
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