This paper presents an algorithm for extracting planar patches by integrating both intensity and range data provided by a stereo system. For dealing with noisy and sparse range data, the initial segmentation is based on intensity information, and then the resulted regions are thresholded using depth data. This new algorithm, different from the existing ones that use only range data in the segmentation process, produces accurate planar patches that are then used for building a panoramic image-based model for mobile robot navigation.


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    Title :

    Planar patch extraction with noisy depth data


    Contributors:
    Cobzas, D. (author) / Zhang, H. (author)


    Publication date :

    2001-01-01


    Size :

    937412 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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