Extending generalized hough transform to detect 3D objects in laser range data
Kourosh Khoshelham · University of Twente Research Information · 2007
Automated detection and 3D modelling of objects in laser range data is of great importance in many applications.Existing approaches to object detection in range data are limited to either 2.5D data (e.g.range images) or simple objects with a parametric form (e.g.spheres).This paper describes a new approach to the detection of 3D objects with arbitrary shapes in a point cloud.We present an extension of the generalized Hough transform to 3D data, which can be used to detect instances of an object model in laser range data, independent of the scale and orientation of the object.We also discuss the computational complexity of the method and provide cost-reduction strategies that can be employed to improve the efficiency of the method.