The Fine Plane Range Estimation From Point Cloud

Abstract

This paper deals with the fine plane estimation. For a plane detection the level connected component labeling algorithm is used. The precise plane position is determined by the plane's points histogram in the scanning dimension. Up till now, the final plane's range has been selected manually by a parameter. Plane presence in an input point cloud represents the higher points' concentration in the scanning dimension, higher than average value. The concentration decreases on both sides from a local maximum value. This paper presents the algorithm of the elbows' position estimation for the optimal plane's points range expression. The experimental part shows practical results of several examples and gives recommendations for parameters setting.