| 摘要 |
PROBLEM TO BE SOLVED: To extract a plane robust against a noise and high in reliability. SOLUTION: A three-dimensional data is sampled at first at random from a three-dimensional data group, a plane parameter (θ,ϕ, d) is calculated, where (θ,ϕ) is a direction of a normal vector and d is a distance from the origin, and the plane parameter is balloted to a ballot space (θ,Ψ, d)=(θ,ϕcosθ, d), in order to extract the plane from the three-dimensional data such as a distance image. A vote value is weighted by reliability of the sampled data and a calculation method of the parameter. Then, the plane parameter of which the obtained vote value is estimated to get high is interlace-processed to the plane parameter. The plane parameter is output at last together with reliability of the sampling data, the number of sampling, and reliability obtained from an error or the like in the interlace. COPYRIGHT: (C)2003,JPO
|
