Robust real time extraction of plane segments from time-of-flight camera images

Yosef Dalbah; Dirk Koltermann; Friedrich M. Wahl

doi:10.1117/12.2064527

16 April 2014 Robust real time extraction of plane segments from time-of-flight camera images

Yosef Dalbah, Dirk Koltermann, Friedrich M. Wahl

Proceedings Volume 9159, Sixth International Conference on Digital Image Processing (ICDIP 2014); 91591V (2014) https://doi.org/10.1117/12.2064527
Event: Sixth International Conference on Digital Image Processing, 2014, Athens, Greece

Abstract

We present a method that extracts plane segments from images of a time-of-flight camera. Future driver assistance systems rely on an accurate description of the vehicle’s environment. Time-of-flight cameras can be used for environment perception and for the reconstruction of the environment. Since most structures in urban environments are planar, extracted plane segments from single camera images can be used for the creation of a global map. We present a method for real time detection of planar surface structures from time-of-flight camera data. The concept is based on a planar surface segmentation that serves as the fundament for a subsequent global planar surface extraction. The evaluation demonstrates the ability of the described algorithm to detect planar surfaces form depth data of complex scenarios in real time. We compare our methods to state of the art planar surface extraction algorithms.

Citation Download Citation

Yosef Dalbah, Dirk Koltermann, and Friedrich M. Wahl "Robust real time extraction of plane segments from time-of-flight camera images", Proc. SPIE 9159, Sixth International Conference on Digital Image Processing (ICDIP 2014), 91591V (16 April 2014); https://doi.org/10.1117/12.2064527

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