Result Details

Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes

HULÍK, R.; BERAN, V.; ŠPANĚL, M.; KRŠEK, P.; SMRŽ, P. Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes. In IEEE International Conference on Intelligent Robots and Systems. Proceedings of the International Conference on Intelligent Robots and Systems. Vilamoura, Algarve: Department of Computer Graphics and Multimedia FIT BUT, 2012. no. 12, p. 1665-1670. ISBN: 978-1-4673-1737-5. ISSN: 2153-0858.
Type
conference paper
Language
English
Authors
Hulík Rostislav, Ing., DCGM (FIT)
Beran Vítězslav, doc. Ing., Ph.D., DCGM (FIT)
Španěl Michal, doc. Ing., Ph.D., DCGM (FIT)
Kršek Přemysl, doc. Ing., Ph.D., UTKO (FEEC)
Smrž Pavel, doc. RNDr., Ph.D., DCGM (FIT)
Abstract

This paper deals with a scene pre-processing task - depth image segmentation. Efficiency and accuracy of several methods for depth map segmentation are explored. To meet real-time capable constraints, state-of-the-art techniques needed to be modified. Along with these modifications, new segmentation approaches are presented which aim at optimizing performance characteristics. They benefit from an assumption of human-made indoor environments by focusing on detection of planar regions. All methods were evaluated on datasets with manually annotated real environments. A comparison with alternative solutions is also presented.

Keywords

Kinect; Depth Map Segmentation;Plane detection; Computer Vision; Range Sensing

Published
2012
Pages
1665–1670
Journal
Proceedings of the International Conference on Intelligent Robots and Systems, vol. 2012, no. 12, ISSN 2153-0858
Proceedings
IEEE International Conference on Intelligent Robots and Systems
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
ISBN
978-1-4673-1737-5
Publisher
Department of Computer Graphics and Multimedia FIT BUT
Place
Vilamoura, Algarve
DOI
10.1109/IROS.2012.6385868
EID Scopus
2-s2.0-84872279620
BibTeX 
@inproceedings{BUT91488,
  author="Rostislav {Hulík} and Vítězslav {Beran} and Michal {Španěl} and Přemysl {Kršek} and Pavel {Smrž}",
  title="Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes",
  booktitle="IEEE International Conference on Intelligent Robots and Systems",
  year="2012",
  journal="Proceedings of the International Conference on Intelligent Robots and Systems",
  volume="2012",
  number="12",
  pages="1665--1670",
  publisher="Department of Computer Graphics and Multimedia FIT BUT",
  address="Vilamoura, Algarve",
  doi="10.1109/IROS.2012.6385868",
  isbn="978-1-4673-1737-5",
  issn="2153-0858",
  url="https://www.fit.vut.cz/research/publication/9955/"
}
Files
Projects
Centrum excelence IT4Innovations, MŠMT, Operační program Výzkum a vývoj pro inovace, ED1.1.00/02.0070, start: 2011-01-01, end: 2015-12-31, completed
National Support for Project Robust & Safe Mobile Co-operative Autonomous Systems, MŠMT, Společné technologické iniciativy, 7H10011, start: 2010-04-01, end: 2013-04-30, running
Security-Oriented Research in Information Technology, MŠMT, Institucionální prostředky SR ČR (např. VZ, VC), MSM0021630528, start: 2007-01-01, end: 2013-12-31, running
SRS - Multi-Role Shadow Robotic System for Independent Living, EU, Seventh Research Framework Programme, 7E12056, start: 2011-09-01, end: 2013-04-30, completed
Research groups
Computer Graphics Research Group (RG GRAPH)
Robotic research group Robo@FIT (RG ROBO)
Departments
Department of Computer Graphics and Multimedia (DCGM)
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