Method for Extracting Planes from 3D Point Cloud Sensor Data

摘要

A method extracts planes from three-dimensional (3D) points by first partitioning the 3D points into disjoint regions. A graph of nodes and edges is then constructed, wherein the nodes represent the regions and the edges represent neighborhood relationships of the regions. Finally, agglomerative hierarchical clustering is applied to the graph to merge regions belonging to the same plane.

主权项

1. A method fir extracting planes from three-dimensional (3D) points, comprising the steps of:
partitioning the 3D points into disjoint regions; constructing a graph of nodes and edges, wherein the nodes represent the regions and the edges represent neighborhood relationships of the regions; and applying agglomerative hierarchical clustering to the graph to merge regions belonging to a same plane, wherein the steps are performed in a processor.