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

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.