Abstract-We present a robust plane finding algorithm that when combined with plane-based frame-to-frame registration gives accurate real-time pose estimation. Our plane extraction is capable of handling large and sparse datasets such as those generated from spinning multi-laser sensors such as the Velodyne HDL-32E LiDAR. We test our algorithm on frameto-frame registration in a closed-loop indoor path comprising 827 successive 3D laser scans (over 57 million points), using no additional information (e.g., odometry, IMU). Our algorithm outperforms, in both accuracy and time, three state-of-the-art methods, based on iterative closest point (ICP), plane-based randomized Hough transform, and planar region growing.
of successive laser scans using a Hough-transform implementation REF .
Finding planes in LiDAR point clouds for real-time registration
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science