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Oct, 2019
从3D激光扫描中提取有限平面的最大似然方法
A Maximum Likelihood Approach to Extract Finite Planes from 3-D Laser Scans
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Alexander Schaefer, Johan Vertens, Daniel Büscher, Wolfram Burgard
TL;DR
本文提出了一种严格的概率方法来检测有限平面，该算法通过自下而上的聚类技术从底部构建平面，利用光线路径信息计算测量似然性，不依赖于点到平面距离，可以应用于机器人系统的不同领域。
Abstract
Whether it is object detection, model reconstruction, laser odometry, or point cloud registration:
plane extraction
is a vital component of many
robotic systems
. In this paper, we propose a strictly
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