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PLASE: A novel planar surface extraction method for the autonomous navigation of micro-air vehicle
Ansvarig organisation
2011 (Engelska)Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

A Planar Surface Extraction (PLASE) method is proposed for the indoor navigation of a micro-air vehicle (MAV). The algorithm finds planar clusters from the unorganized point clouds. This is achieved by implementing a novel approach that first segments the data points into clusters and then each cluster is estimated for its planarity. The method is tested on indoor point cloud data obtained by 3D PrimeSense based sensor. In order to validate the algorithm, a simulated model containing a set of planes has been constructed, with noise injected into the model. The results of the empirical evaluation suggest that the method performs well even in the presence of the noise and non-planar objects, suggesting that the method will be a viable one for use in MAV navigation in the presence of noisy sensor data.

Ort, förlag, år, upplaga, sidor
't Harde, 2011.
Nyckelord [en]
Machine vision
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
URN: urn:nbn:se:bth-7367Lokalt ID: oai:bth.se:forskinfo8A6610A8D8E315B1C12579790065744COAI: oai:DiVA.org:bth-7367DiVA, id: diva2:834974
Konferens
International Micro Air Vehicle Conference and Flight Competition IMAV
Tillgänglig från: 2012-09-18 Skapad: 2012-01-02 Senast uppdaterad: 2018-01-11Bibliografiskt granskad

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Siddiqui, RafidKhatibi, Siamak

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