Point Cloud Segmentation Using Euclidean Cluster Extraction Algorithm With the Smoothness
WU Yan-xion · Measurement & Control Technology · 2016
An Euclidean cluster extraction algorithm with the smoothness parameter for Kinect point cloud is presented to achieve fast,accurate segmentation.First,the Kinect point cloud collection and filtering method is introduced,then an Euclidean cluster extraction algorithm with the smoothness is proposed by adding a smoothness threshold to traditional Euclidean clustering algorithm,which can prevent the problem of over-segmentation or inadequate split,and maintain a rapid segmentation speed.The experiments of valve point cloud data acquired by an industrial robot prove the effectiveness of the algorithm.