TY - GEN
T1 - Plane detection to improve 3D scanning speed using RANSAC algorithm
AU - Fujiwara, Tomofumi
AU - Kamegawa, Tetsushi
AU - Gofuku, Akio
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84881466783&partnerID=8YFLogxK
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U2 - 10.1109/ICIEA.2013.6566671
DO - 10.1109/ICIEA.2013.6566671
M3 - Conference contribution
AN - SCOPUS:84881466783
SN - 9781467363211
T3 - Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
SP - 1863
EP - 1869
BT - Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
T2 - 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Y2 - 19 June 2013 through 21 June 2013
ER -