Robust-PCA-based hierarchical plane extraction for application to geometric 3D indoor mapping
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yeon, Suyong | - |
dc.contributor.author | Jun, ChangHyun | - |
dc.contributor.author | Choi, Hyunga | - |
dc.contributor.author | Kang, Jaehyeon | - |
dc.contributor.author | Yun, Youngmok | - |
dc.contributor.author | Doh, Nakju Lett | - |
dc.date.accessioned | 2021-09-05T17:18:03Z | - |
dc.date.available | 2021-09-05T17:18:03Z | - |
dc.date.created | 2021-06-15 | - |
dc.date.issued | 2014 | - |
dc.identifier.issn | 0143-991X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/101165 | - |
dc.description.abstract | Purpose - The authors aim to propose a novel plane extraction algorithm for geometric 3D indoor mapping with range scan data. Design/methodology/approach - The proposed method utilizes a divide-and-conquer step to efficiently handle huge amounts of point clouds not in a whole group, but in forms of separate sub-groups with similar plane parameters. This method adopts robust principal component analysis to enhance estimation accuracy. Findings - Experimental results verify that the method not only shows enhanced performance in the plane extraction, but also broadens the domain of interest of the plane registration to an information-poor environment (such as simple indoor corridors), while the previous method only adequately works in an information-rich environment (such as a space with many features). Originality/value - The proposed algorithm has three advantages over the current state-of-the-art method in that it is fast, utilizes more inlier sensor data that does not become contaminated by severe sensor noise and extracts more accurate plane parameters. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | EMERALD GROUP PUBLISHING LTD | - |
dc.title | Robust-PCA-based hierarchical plane extraction for application to geometric 3D indoor mapping | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, Nakju Lett | - |
dc.identifier.doi | 10.1108/IR-04-2013-347 | - |
dc.identifier.scopusid | 2-s2.0-84897401505 | - |
dc.identifier.wosid | 000334727400010 | - |
dc.identifier.bibliographicCitation | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, v.41, no.2, pp.203 - 212 | - |
dc.relation.isPartOf | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | - |
dc.citation.title | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | - |
dc.citation.volume | 41 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 203 | - |
dc.citation.endPage | 212 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Engineering, Industrial | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordAuthor | Hierarchical segmentation | - |
dc.subject.keywordAuthor | Plane extraction | - |
dc.subject.keywordAuthor | Plane registration | - |
dc.subject.keywordAuthor | Robust PCA | - |
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