Continuous plane detection in point-cloud data based on 3D Hough Transform
We propose a 3D Hough Transform plane detector for depth sensors. Several significant optimizations are proposed to maximize its practical usability. Continuous flow of frames is used to accumulate and iteratively refine detected planes. Comparison with another widely used plane extraction, RANSAC, is provided.
plane detection hough transform ransac rgb-d sensor point cloud pcl library computer vision shape extraction