A novel plane estimation algorithm from 3D range data is presented. The proposed solution is based on the minimization of a nonlinear prediction error cost function inspired by the mathematical definition of Gibbs' entropy. The method has been experimentally tested and compared with a standard implementation of the RANSAC algorithm. Results suggest that the proposed approach has the potential of performing better in terms of precision and reliability while requiring a lower computational effort.
Robust 3D Plane Estimation for Autonomous Vehicle Applications
G. Indiveri
2010-01-01
Abstract
A novel plane estimation algorithm from 3D range data is presented. The proposed solution is based on the minimization of a nonlinear prediction error cost function inspired by the mathematical definition of Gibbs' entropy. The method has been experimentally tested and compared with a standard implementation of the RANSAC algorithm. Results suggest that the proposed approach has the potential of performing better in terms of precision and reliability while requiring a lower computational effort.
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