Using Hierarchical EM to Extract Planes from 3D Range Scans

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Title: Using Hierarchical EM to Extract Planes from 3D Range Scans
Author: Triebel, Rudolph ; Burgard, Wolfram ; Dellaert, Frank
Abstract: Recently, the acquisition of three-dimensional maps has become more and more popular. This is motivated by the fact that robots act in the three-dimensional world and several tasks such as path planning or localizing objects can be carried out more reliable using three-dimensional representations. In this paper we consider the problem of extracting planes from three-dimensional range data. In contrast to previous approaches our algorithm uses a hierarchical variant of the popular Expectation Maximization (EM) algorithm [1] to simultaneously learn the main directions of the planar structures. These main directions are then used to correct the position and orientation of planes. In practical experiments carried out with real data and in simulations we demonstrate that our algorithm can accurately extract planes and their orientation from range data.
Description: ©2005 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2005 IEEE International Conference on Robotics and Automation (ICRA), 18-22 April 2005, Barcelona, Spain. DOI: 10.1109/ROBOT.2005.1570803
Type: Post-print
ISSN: 1050-4729
Citation: Triebel, R., Burgard, W., & Dellaert, F. (2005). “Using Hierarchical EM to Extract Planes from 3D Range Scans”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2005), 18-22 April 2005, 4437-4442.
Date: 2005-04
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. College of Computing
Universität Freiburg im Breisgau. Institut für Informatik
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Expectation maximization
Extracting planes
Path planning
Planar structures

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