Physical Sciences and Mathematics Commons^™

Planar Polygon Extraction And Merging From Depth Images, Joydeep Biswas, Manuela M. Veloso

Computer Science Department Faculty Publication Series

— There has been considerable interest recently in building 3D maps of environments using inexpensive depth cameras like the Microsoft Kinect sensor. We exploit the fact that typical indoor scenes have an abundance of planar features by modeling environments as sets of plane polygons. To this end, we build upon the Fast Sampling Plane Filtering (FSPF) algorithm that extracts points belonging to local neighborhoods of planes from depth images, even in the presence of clutter. We introduce an algorithm that uses the FSPF-generated plane filtered point clouds to generate convex polygons from individual observed depth images. We then contribute an …