NDLI: Real-time plane extraction from depth images with the Randomized Hough Transform

Content Provider	IEEE Xplore Digital Library
Author	Dube, D. Zell, A.
Copyright Year	2011
Description	Author affiliation: Cognitive Systems, Computer Science Department, University of Tübingen, Germany (Dube, D.; Zell, A.)
Abstract	Depth cameras, like the Microsoft Kinect system, are valuable sensors for mobile robotics since their data enables a highly detailed perception of the environmental structure. Certainly, their amount of data is often too high to be processed in real-time by the limited resources of mobile robots. One way of using these sensors is to reduce the amount of data by extracting features like planes from the raw depth images. In this work we present a method to extract planes from depth images based on the Randomized Hough Transformation, which is specially adapted to the properties of the Kinect sensor. Therefore we use a noise model of the sensor to solve the task of finding proper parameter metrics for the Randomized Hough Transform. As a result, our approach extracts the planes from a depth image in less than one millisecond on the platform of a mobile robot and is therefore real-time capable.
Starting Page	1084
Ending Page	1091
File Size	2872263
Page Count	8
File Format	PDF
ISBN	9781467300629
e-ISBN	9781467300636
DOI	10.1109/ICCVW.2011.6130371
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Image sensors Adaptation models Noise Transforms Vectors Sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in