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Fast iterative plane detecting in range images and its applications for mobile systems

: Strehler, Martin

Grün, A. ; TH Zürich -ETH-; TU Wien:
Optical 3D measurement techniques VIII. Vol.1 : Applications in GIS, mapping, manufacturing, quality control, robotics, navigation, mobile mapping, medical imaging, Cultural Heritage, VR generation and animation. Papers presented to the conference organized at ETH Zurich, Switzerland, July 9 - 12, 2007
Zürich, 2007
ISBN: 3-906467-67-8
Conference on Optical 3-D Measurement Techniques <8, 2007, Zürich>
Fraunhofer IPA ()
camera calibration; Mobile Systeme; range imaging; time-of-flight; ground detection; plane fitting

This article focuses on two algorithms for finding planar segments in 3D range images, recorded by Time-of-Flight-cameras (TOF-cameras). An application of these algorithms for obstacle avoidance in the autonomous navigation of mobile systems is presented. We also discuss the calibration of Time-of-light cameras, which is an important condition for our fitting algorithms maps and on basis of calculation of empirically determined standard deviations of displacements.