Ground plane estimation in a computer vision system

Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function b...

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Bibliographische Detailangaben
Hauptverfasser:	Nagori, Soyeb, Kumar, Poorna, Mathew, Manu, Poddar, Deepak Kumar, Viswanath, Prashanth Ramanathpur
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTING COUNTING GYROSCOPIC INSTRUMENTS HANDLING RECORD CARRIERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS SURVEYING TESTING TRANSPORTING VEHICLES IN GENERAL VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR
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Beschreibung
Zusammenfassung:	Estimation of the ground plane of a three dimensional (3D) point cloud based modifications to the random sample consensus (RANSAC) algorithm is provided. The modifications may include applying roll and pitch constraints to the selection of random planes in the 3D point cloud, using a cost function based on the number of inliers in the random plane and the number of 3D points below the random plane in the 3D point cloud, and computing a distance threshold for the 3D point cloud that is used in determining whether or not a 3D point in the 3D point cloud is an inlier of a random plane.