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Method for extracting planes from 3D point cloud sensor data

  • US 9,412,040 B2
  • Filed: 12/04/2013
  • Issued: 08/09/2016
  • Est. Priority Date: 12/04/2013
  • Status: Active Grant
First Claim
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1. A method for extracting planes from three-dimensional (3D) points, comprising the steps of:

  • acquiring a depth map with a 3D sensor, wherein the depth map has a two-dimensional grid of pixels and each pixel has a depth value;

    back-projecting the depth map to generate a cloud of 3D points;

    partitioning the 3D points into disjoint regions;

    constructing a graph of nodes and edges, wherein the nodes represent the regions and the edges represent neighborhood relationships of the regions, wherein each node includes a set of 3D points, a plane fitted to the set of 3D points, and a mean squared error (MSE) of the set of 3D points to the plane; and

    applying agglomerative hierarchical clustering to the graph to merge regions belonging to a same plane, wherein in each iteration of the agglomerative hierarchical clustering, a node with a minimum MSE is selected and merged with one of neighboring nodes having a minimum merging MSE among the neighboring nodes, wherein the steps are performed in a processor.

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