The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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A Data Structure for the 3D Hough Transform for Plane Detection

Dorit Borrmann
Jacobs University Bremen gGmbH
Germany

Jan Elseberg
Jacobs University Bremen gGmbH
Germany

Kai Lingemann
University of Osnabrück
Germany

Andreas Nüchter
Jacobs University Bremen gGmbH
Germany

Abstract:
The Hough Transform is a well-known method for detecting parametrized objects. It is the de facto standard for the detection of lines and circles in 2-dimensional data sets. For 3D it has attained little attention so far. Apart from computational costs, the main problem is the representation of the accumulator: Usual implementations favor geometrical objects with certain parameters due to uneven sampling of the parameter space.

 

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