Plane detection to improve 3D scanning speed using RANSAC algorithm

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

When an operator teleoperates a rescue robot, it is necessary for the operator to understand the relationship between the robot and its environment while indirect-vision driving. A LRF (Laser Range Finder) installed on a rotating stage is often used for scanning the environment in order to give the operator spatial information, while there is a tradeoff between its scanning speed and point density. To solve the problem, we implement plane detection by RANSAC (RANdom SAmple Consensus) algorithm, integration of overlapped planes using tables and drawing them as convex hulls. The experimental results show that the scanning speed could be improved because the result of 3D scanning with a low point density shows a good match for that with a high point density by using the implemented methods.

Original languageEnglish
Title of host publicationProceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Pages1863-1869
Number of pages7
DOIs
Publication statusPublished - Aug 19 2013
Event2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013 - Melbourne, VIC, Australia
Duration: Jun 19 2013Jun 21 2013

Publication series

NameProceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013

Other

Other2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
CountryAustralia
CityMelbourne, VIC
Period6/19/136/21/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Fujiwara, T., Kamegawa, T., & Gofuku, A. (2013). Plane detection to improve 3D scanning speed using RANSAC algorithm. In Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013 (pp. 1863-1869). [6566671] (Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013). https://doi.org/10.1109/ICIEA.2013.6566671