Publication Details

Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes

HULÍK Rostislav, BERAN Vítězslav, ŠPANĚL Michal, KRŠEK Přemysl and SMRŽ Pavel. Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes. In: IEEE International Conference on Intelligent Robots and Systems. Vilamoura, Algarve: Department of Computer Graphics and Multimedia FIT BUT, 2012, pp. 1665-1670. ISBN 978-1-4673-1737-5. ISSN 2153-0858.
Czech title
Rychlá a přesná segmentace hloubkových dat pro scény interiérů
Type
conference paper
Language
english
Authors
Hulík Rostislav, Ing. (DCGM FIT BUT)
Beran Vítězslav, doc. Ing., Ph.D. (DCGM FIT BUT)
Španěl Michal, Ing., Ph.D. (DCGM FIT BUT)
Kršek Přemysl, doc. Ing., Ph.D. (DCGM FIT BUT)
Smrž Pavel, doc. RNDr., Ph.D. (DCGM FIT BUT)
Keywords

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

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.

Published
2012
Pages
1665-1670
Journal
IEEE/RSJ 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, Vilamoura, Algarve, PT
ISBN
978-1-4673-1737-5
Publisher
Department of Computer Graphics and Multimedia FIT BUT
Place
Vilamoura, Algarve, PT
DOI
10.1109/IROS.2012.6385868
EID Scopus
2-s2.0-84872279620
BibTeX 
@INPROCEEDINGS{FITPUB9955,
   author = "Rostislav Hul\'{i}k and V\'{i}t\v{e}zslav Beran and Michal \v{S}pan\v{e}l and P\v{r}emysl Kr\v{s}ek and Pavel Smr\v{z}",
   title = "Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes",
   pages = "1665--1670",
   booktitle = "IEEE International Conference on Intelligent Robots and Systems",
   journal = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   volume = 2012,
   number = 12,
   year = 2012,
   location = "Vilamoura, Algarve, PT",
   publisher = "Department of Computer Graphics and Multimedia FIT BUT",
   ISBN = "978-1-4673-1737-5",
   ISSN = "2153-0858",
   doi = "10.1109/IROS.2012.6385868",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/9955"
}
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