CC-RANSAC: Fitting planes in the presence of multiple surfaces in range data

Pattern Recognition Letters

Volumn 32, Issue 3, 2011, Pages 403-410

  Gallo, Orazio ^a   Manduchi, Roberto ^a   Rafii, Abbas ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Canesta Inc   (United States)

Author keywords

Range data processing; RANSAC; Robust fitting; Time of flight applications

Indexed keywords

COMPOSITIONAL MODELS; EXPERIMENTAL EVIDENCE; GEOMETRICAL STRUCTURE; HUMAN MACHINE INTERFACE; LARGEST CONNECTED COMPONENT; MULTIPLE SURFACES; NOISY DATA; PARKING SYSTEMS; PLANAR PATCH; PLANAR SURFACE; RANGE DATA; RANGE DATA PROCESSING; RANGE SENSORS; RANSAC; RANSAC ALGORITHM; ROBOT NAVIGATION; ROBUST FITTING; ROBUST REGRESSIONS; SCENE UNDERSTANDING; STEREO CAMERAS; TIME OF FLIGHT; URBAN SCENES;

AIRCRAFT; ALGORITHMS; MAN MACHINE SYSTEMS; VIRTUAL REALITY;

DATA HANDLING;

EID: 78549293950     PISSN: 01678655     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.patrec.2010.10.009     Document Type: Article

References (40)

1. Adams, M.D., 2001. On-line gradient based surface discontinuity detection for outdoor scanning range sensors. In: Proc. IEEE/RSJ Internat. Conf. on Intell. Robots and Systems (IROS '01), vol. 3, pp. 1726-1731.
2. M. Adams, and A. Kerstens Tracking naturally-occurring indoor features in 2-D and 3-D with lidar range amplitude data Internat. J. Robotics Res. 17 9 1998 907 923
3. Aufrere, R., Mertz, C., Thorpe, C., 2003. Multiple sensor fusion for detecting location of curbs, walls, and barriers. In: Proc. IEEE Intell. Vehicles Symp., pp. 126-131.
4. Bab-Hadiashar, A., Suter, D., 1998. Robust range segmentation. In: Proc. 14th Internat. Conf. on Pattern Recognition, vol. 2, pp. 969-971.
5. Backup systems, 2004. Consumer Reports 69 (10), 19-20.
6. P.J. Besl, and R.C. Jain Segmentation through variable-order surface fitting IEEE Trans. Pattern Anal. Machine Intell. 10 2 1988 167 192
7. K. Boyer, M. Mirza, and G. Ganguly The robust sequential estimator: A general approach and its application to surface organization in range data IEEE Trans. Pattern Anal. Machine Intell. 16 10 1994 987 1001 http://doi. ieeecomputersociety.org/10.1109/34.329010
8. Chen, H., Meer, P., Tyler, D.E., 2001. Robust regression for data with multiple structures. In: Proc. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR 2001), vol. 1, pp. 1069-1075.
9. D. Eberly, R. Gardner, B. Morse, S. Pizer, and C. Scharlach Ridges for image analysis J. Math. Imaging and Vision 4 4 1994 353 373 http://dx.doi.org/ 10.1007/BF01262402
10. M.A. Fischler, and R.C. Bolles Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography Comm. ACM 24 6 1981 381 395 http://doi.acm.org/10.1145/358669.358692
11. Glazduri, V., 2005. An investigation of the potential safety benefits of vehicle backup proximity sensors. In: Proc. Internat. Tech. Conf. on Enhanced Safety Vehicles.
12. Hsu, S., Rafii, A., Hirvonen, D., 2007. Object detection and tracking using an optical time-of-flight range camera module for vehicle safety and driver assist applications. In: Proc. SAE World Cong. Exhibition.
13. P. Huber Robust Statistics 1981 Wiley New York
14. J. Illingworth, and J. Kittler A survey of the Hough transform Comput. Vision Graphics Image Process. 44 1 1988 87 116 http://dx.doi.org/10.1016/S0734- 189X(88)80033-1
15. K. Koster, and M. Spann MIR: An approach to robust clustering-application to range image segmentation IEEE Trans. Pattern Anal. Machine Intell. 22 5 2000 430 444
16. Lalonde, J.F., Unnikrishnan, R., Vandapel, N., Hebert, M., 2005. Scale selection for classification of point-sampled 3D surfaces. In: Fifth Internat. Conf. on 3-D Digital Imaging and Modeling (3DIM 2005), pp. 285-292.
17. K.-M. Lee, P. Meer, and R.-H. Park Robust adaptive segmentation of range images IEEE Trans. Pattern Anal. Machine Intell. 20 2 1998 200 205
18. Liu, Y., Emery, R., Chakrabarti, D., Burgard, W., Thrun, S., 2001. Using EM to learn 3D models with mobile robots. In: Proc. Internat. Conf. on Machine Learning (ICML).
19. Lu, X., Manduchi, R., 2005. Detection and localization of curbs and stairways using stereo vision. In: Proc. IEEE Internat. Conf. on Robotics and Automation (ICRA 2005), pp. 4648-4654.
20. G. McLachlan, and D. Peel Finite Mixture Models 2000 Wiley-Interscience
21. P. Meer Robust techniques for computer vision G. Medioni, S.B. Kang, Emerging Topics in Computer Vision first ed. 2004 IMSC Press Multimedia Series, Prentice Hall Chapter 4
22. Miller, J.V., Stewart, C.V., 1996. MUSE: Robust surface fitting using unbiased scale estimates. In: Proc. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR '96), pp. 300-306.
23. N.J. Mitra, A. Nguyen, and L. Guibas Estimating surface normals in noisy point cloud data Internat. J. Comput. Geometry Appl. 14 4-5 2004 261 276
24. Murarka, A., Modayil, J., Kuipers, B., 2006. Building local safety maps for a wheelchair robot using vision and lasers. In: Proc. Third Canadian Conf. on Comput. and Robot Vision (CRV'06), Washington, DC, USA, p. 25. http://dx.doi.org/10.1109/CRV.2006.20.
25. Paine, M., Henderson, M., 2005. Devices to assist in reducing the risk to young pedestrians from reversing motor vehicles, technical Specification 149. Roads and Traffic Authority, New South Wales, Australia (October).
26. Pottmann, H., Steiner, T., Hofer, M., Haider, C., Hanbury, A., 2004. The isophotic metric and its application to feature sensitive morphology on surfaces. In: Proc. ECCV 2004, pp. 560-572.
27. Pradeep, V., Medioni, G., Weiland, J., 2008. Piecewise planar modeling for step detection using stereo vision. In: Comput. Vision Appl. for the Visually Impaired (CVAVI'08), Marseille, France.
28. P. Rousseeuw, and A. Leroy Robust Regression and Outlier Detection 1987 John Wiley & Sons, Inc. New York, NY, USA
29. Se, S., Brady, J., 1997. Vision-based detection of kerbs and steps. In: Proc. British Machine Vision Conf. (BMVC '97), pp. 410-419.
30. C.V. Stewart Bias in robust estimation caused by discontinuities and multiple structures IEEE Trans. Pattern Anal. Machine Intell. 19 8 1997 818 833
31. C.V. Stewart Robust parameter estimation in computer vision SIAM Rev. 41 3 1999 513 537
32. Subbarao, R., Meer, P., 2005. Heteroscedastic projection based m-estimators. In: Proc. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR '05), vol. 3, pp. 38-38.
33. F. Tang, M. Adams, J. Ibanez-Guzman, and W.S. Wijesoma Pose invariant, robust feature extraction from data with a modified scale space approach Proc. IEEE Internat. Conf. on Robotics and Automation (ICRA '04) 3 2004 3173 3179
34. G. Taubin Estimation of planar curves, surfaces, and nonplanar space curves defined by implicit equations with applications to edge and range image segmentation IEEE Trans. Pattern Anal. Machine Intell. 13 11 1991 1115 1138
35. Tong, W.-S., Tang, C.-K., Medioni, G., 2001. First order tensor voting, and application to 3-D scale analysis. In: Proc. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR '01), vol. 1.
36. P.H.S. Torr, and A. Zisserman MLESAC: A new robust estimator with application to estimating image geometry Comput. Vision and Image Understanding 78 1 2000 138 156 http://dx.doi.org/10.1006/cviu.1999.0832
37. R. Triebel, W. Burgard, and F. Dellaert Using hierarchical EM to extract planes from 3D range scans Proc. 2005 IEEE Internat. Conf. on Robotics and Automation (ICRA 2005) 2005 4437 4442
38. Turchetto, R., Manduchi, R., 2003. Visual curb localization for autonomous navigation. In: Proc. IEEE/RSJ Internat. Conf. on Intell. Robots and Systems (IROS 2003), vol. 2, pp. 1336-1342.
39. R. Unnikrishnan, and M. Hebert Robust extraction of multiple structures from non-uniformly sampled data Proc. IEEE/RSJ Internat. Conf. on Intell. Robots and Systems (IROS 2003) 2 2003 1322 1329
40. R. Vidal, Y. Ma, and S. Sastry Generalized principal component analysis (GPCA) IEEE Trans. Pattern Anal. Machine Intell. 27 12 2005 1945 1959 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2005.244