Polyhedral Description of Panoramic Range Data by Stable Plane Extraction

Caihua WANG  Hideki TANAHASHI  Hidekazu HIRAYU  Yoshinori NIWA  Kazuhiko YAMAMOTO  

IEICE TRANSACTIONS on Information and Systems   Vol.E85-D    No.9    pp.1399-1408
Publication Date: 2002/09/01
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Processing, Image Pattern Recognition
panoramic range data,  plane extraction,  polyhedral model,  scene description,  

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In this paper, we describe a novel technique to extract a polyhedral description from panoramic range data of a scene taken by a panoramic laser range finder. First, we introduce a reasonable noise model of the range data acquired with a laser radar range finder, and derive a simple and efficient approximate solution of the optimal fitting of a local plane in the range data under the assumed noise model. Then, we compute the local surface normals using the proposed method and extract stable planar regions from the range data by using both the distribution information of local surface normals and their spatial information in the range image. Finally, we describe a method which builds a polyhedral description of the scene using the extracted stable planar regions of the panoramic range data with 360 field of view in a polar coordinate system. Experimental results on complex real range data show the effectiveness of the proposed method.

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