在距离数据中查找圆柱体

Tomas Lozano-Perez, W. Grimson, S. J. White
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引用次数: 42

摘要

我们研究了在深度扫描图中定位圆柱体的问题。关键的问题是确定一组扫描是否可以从同一个圆柱体中产生。我们研究了解决这个问题的许多传统方法。我们发现在传统的方法中,涉及到对扫描数据的椭圆拟合存在显著的可靠性和准确性问题。作为一种替代方案,我们已经开发了一种简单而非常健壮的方法来计算基于三次扫描的圆柱体轴。这种计算提供了分割扫描数据所需的基本能力。本报告总结了我们使用几种方法的经验,并详细介绍了新方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Finding cylinders in range data
We have investigated the problem of locating cylinders in a depth scan map. The crucial problem is deciding whether a group of scans could arise from the same cylinder. We investigated a number of traditional approaches to this problem. We found significant reliability and accuracy problems in the traditional approaches that involve fitting ellipses to the scan data. As an alternative, we have developed a simple and very robust method for computing the axis of a cylinder based on three scans. This computation provides the basic capability needed to segment the scan data. This report summarizes our experience with several of the methods and describes the new method in detail.
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