Reliability of Fitting a Plane to Range Data

Yasushi KANAZAWA  Kenichi KANATANI  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.12   pp.1630-1635
Publication Date: 1995/12/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Machine Vision Applications)
reliability of 3-D reconstruction,  range sensing,  plane fitting,  line fitting,  statistical optimization,  noise estimation,  

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Based on a simple model for the statistical error characteristics of range sensing, a numerical scheme called renormalization is presented for optimally fitting a planar surface to data points obtained by range sensing. The renormalization method has the advantage that not only an optimal fit is computed but also its reliability is automatically evaluated in the form of the covariance matrix. Its effectiveness is demonstrated by numerical simulation. A scheme for visualizing the reliability of computation by means of the primary deviation pair is also presented.