Fast Extraction of Multi Planes using RANSAC Algorithm

H. Wang and D. Xu (PRC)


RANSAC algorithm, plane extraction, robot vision


For extracting multi-planes from a large mount of 3D points obtained by a camera and range finders, it is necessary and important to improve the efficiency of RANSAC algorithm. To speed up the algorithm, the probability to obtain good samples is improved with some measures such as 3D point segmentation, selecting samples within division, constraining and improving of samples. The proposed method also quickly evaluates local support for hypothesized models through randomly selecting a small number of points within division. Finally, simulations are presented to demonstrate the efficiency of the proposed method.

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