R. Triebel, W. Burgard, and F. Dellaert

Using Hierarchical EM to Extract Planes from 3D Range Scans

Proc. of the IEEE International Conference on Robotics and Automation (ICRA)


Abstract

Recently, the acquisition of three-dimensional maps has become more and more popular. This is motivated by the fact that robots act in the three-dimensional world and several tasks such as path planning or localizing objects can be carried out more reliable using three-dimensional representations. In this paper we consider the problem of extracting planes from three-dimensional range data. In contrast to previous approaches our algorithm uses a hierarchical variant of the popular Expectation Maximization (EM) algorithm [1] to simultaneously learn the main directions of the planar structures. These main directions are then used to correct the position.

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Bibtex 

@string{ICRA = "Proc. of the IEEE International Conference on Robotics and Automation (ICRA)"}

@InProceedings{triebel05icra,
  TITLE =	 {Using Hierarchical EM to Extract Planes from 3D Range Scans},
  AUTHOR =	 {Triebel, R. and Burgard, W. and Dellaert, F.},
  BOOKTITLE =	 ICRA,
  YEAR =	 {2005},
}