Three-dimentional plane panorama creation through hough-based line detection
First Claim
1. A method comprising:
- detecting a ground plane in a three-dimensional point cloud;
applying a rotation matrix to the three-dimensional point cloud to change coordinate systems;
converting the three-dimensional point cloud to a two-dimensional histogram with bins grouping neighboring points in the three-dimensional point cloud;
performing a transformation on the two-dimensional histogram to segment into one or more segments, each segment including one or more of the bins;
identifying a road from the ground plane;
discarding lines inside of the road; and
assembling a plurality of lines to represent the road.
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Abstract
A method for creating a plane panorama from point cloud data using Hough transformations is disclosed. The method involves converting the three-dimensional point cloud into a two-dimensional histogram with bins grouping neighboring points, and performing a Hough transformation on the histogram. The resulting transformed data is segmented and the method searches the segments iteratively for a major line, followed by lines that are orthogonal, diagonal, or parallel to the major line, and discards outlying data in each bin as lines are identified. The detected lines are connected to form planes, and the planes are assembled into a hole- and gap-filled panorama. The method may also use an algorithm such as a Random Sample Consensus (RANSAC) algorithm to detect a ground plane.
11 Citations
18 Claims
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1. A method comprising:
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detecting a ground plane in a three-dimensional point cloud; applying a rotation matrix to the three-dimensional point cloud to change coordinate systems; converting the three-dimensional point cloud to a two-dimensional histogram with bins grouping neighboring points in the three-dimensional point cloud; performing a transformation on the two-dimensional histogram to segment into one or more segments, each segment including one or more of the bins; identifying a road from the ground plane; discarding lines inside of the road; and assembling a plurality of lines to represent the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus comprising:
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at least one processor; and at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following; detecting a ground plane in a three-dimensional point cloud; applying a rotation matrix to the three-dimensional point cloud to change coordinate systems; converting the three-dimensional point cloud to a two-dimensional histogram with bins grouping neighboring points in the three-dimensional point cloud; performing a transformation on the two-dimensional histogram to segment into one or more segments, each segment including one or more of the bins; identifying a road from the ground plane; discarding lines inside of the road; and assembling a plurality of lines to represent the road. - View Dependent Claims (14, 15, 16, 17)
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18. A method comprising:
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detecting a ground plane in a point cloud; applying a rotation matrix to the three-dimensional point cloud to change coordinate systems; converting the point cloud to a histogram with bins grouping neighboring points in the point cloud; performing a transformation on the histogram to segment into one or more segments, each segment including one or more of the bins; identifying a road from the ground plane; discarding lines inside of the road; assembling a plurality of lines including an initial major line to represent the road; and constructing a plane panorama including the road.
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Specification