From Planes to Corners: Multi-Purpose Primitive Detection in Unorganized 3D Point Clouds

@article{Sommer2020FromPT,
  title={From Planes to Corners: Multi-Purpose Primitive Detection in Unorganized 3D Point Clouds},
  author={Christiane Sommer and Y. Sun and L. Guibas and D. Cremers and Tolga Birdal},
  journal={IEEE Robotics and Automation Letters},
  year={2020},
  volume={5},
  pages={1764-1771}
}
  • Christiane Sommer, Y. Sun, +2 authors Tolga Birdal
  • Published 2020
  • Computer Science, Engineering
  • IEEE Robotics and Automation Letters
  • We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under orthogonality allows for multitudes of applications such as semantic plane detection or local and global scan alignment, which in turn can aid robot localization or grasping tasks. Our two-stage pipeline involves a rough yet joint estimation of orthogonal planes… CONTINUE READING

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