Strehler, MartinMartinStrehler2022-03-102022-03-102007https://publica.fraunhofer.de/handle/publica/354864This 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.encamera calibrationMobile Systemerange imagingtime-of-flightground detectionplane fittingconference paper