The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Robust 3D Plane Estimation for Autonomous Vehicle Applications

Cosimo Distante
Istituto Nazionale di Ottica CNR

Giovanni Indiveri
UniversitĂ  del Salento

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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