Acceleration of planes segmentation using normals from previous frame

Pavel Gritsenko; Igor Gritsenko; Askar Seidakhmet; Azizbek Abduraimov

doi:10.1117/12.2299646

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19 December 2017 Acceleration of planes segmentation using normals from previous frame

Pavel Gritsenko, Igor Gritsenko, Askar Seidakhmet, Azizbek Abduraimov

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Proceedings Volume 10613, 2017 International Conference on Robotics and Machine Vision; 106130C (2017) https://doi.org/10.1117/12.2299646
Event: Second International Conference on Robotics and Machine Vision, 2017, Kitakyushu, Japan

Abstract

One of the major problem in integration process of robots is to make them able to function in a human environment. In terms of computer vision, the major feature of human made rooms is the presence of planes [1, 2, 20, 21, 23]. In this article, we will present an algorithm dedicated to increase speed of a plane segmentation. The algorithm uses information about location of a plane and its normal vector to speed up the segmentation process in the next frame. In conjunction with it, we will address such aspects of ICP SLAM as performance and map representation.

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Pavel Gritsenko, Igor Gritsenko, Askar Seidakhmet, and Azizbek Abduraimov "Acceleration of planes segmentation using normals from previous frame", Proc. SPIE 10613, 2017 International Conference on Robotics and Machine Vision, 106130C (19 December 2017); https://doi.org/10.1117/12.2299646

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