Number of planes

[romdos]

Hello, I'm interested in MultiplePlaneSegentation module. Could you examplify in what situations we want to segment fixed number of planes? If I'm not mistaken your algorithm in each iteration finds the biggest number of inliers? And the number of such iterations is equal to nplanes?

[jordivilaseca]

All this repository is aimed to object recognition in fixed scenes (neither the camera nor the the scene are moving). You have to know the scene in advance, this way you could know the number of planes that you want to segment. For example it was tested using a kitchen as scene with a table and three, in total four plans to be segmented.

The algorithm used to segment is rather simple. To find the different planes the following algorithm is computed. It starts with a full frame f of the scene. for i..n:

• It tries to find a plane p from f (most cases RANSAC will find the biggest one).
• The inlier points of p are removed from f to avoid getting the same plane again.

As you can see, it is a simple algorithm that will give you n planes (it could be that one of them is not correct, but in most cases it works).

These project was developed as part of a bachelor thesis, here you will find a more formal explanation about the project (it is in english)