Publication result detail

Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes

HULÍK, R.; BERAN, V.; ŠPANĚL, M.; KRŠEK, P.; SMRŽ, P.

Original Title

Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes

English Title

Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes

Type

Paper in proceedings (conference paper)

Original 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.

English 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

Key words in English

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

Authors

HULÍK, R.; BERAN, V.; ŠPANĚL, M.; KRŠEK, P.; SMRŽ, P.

RIV year

2013

Released

01.12.2012

Publisher

Department of Computer Graphics and Multimedia FIT BUT

Location

Vilamoura, Algarve

ISBN

978-1-4673-1737-5

Book

IEEE International Conference on Intelligent Robots and Systems

ISBN

2153-0858

Periodical

Proceedings of the International Conference on Intelligent Robots and Systems

Volume

2012

Number

12

State

United States of America

Pages from

1665

Pages to

1670

Pages count

6

URL

https://www.fit.vut.cz/research/publication/9955/

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/"
}

Documents

depth_map_seg