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PLASE: A novel planar surface extraction method for the autonomous navigation of micro-air vehicle
Department of Computing, Blekinge Institute of Technology, Karlskrona, Sweden.ORCID iD: 0000-0003-4692-5415
Department of Computing, Blekinge Institute of Technology, Karlskrona, Sweden.
Department of Computing, Blekinge Institute of Technology, Karlskrona, Sweden.
Department of Computing, Blekinge Institute of Technology, Karlskrona, Sweden.
2011 (English)In: Proceedings of the International Micro Air Vehicles conference 2011, Delft University of Technology and Thales , 2011, p. 48-55Conference paper, Published paper (Refereed)
Abstract [en]

A Planar Surface Extraction (PLASE) method is proposed for the indoor navigation of a micro-air vehicle (MAV). The algorithm finds planar clusters from the unorganized point clouds. This is achieved by implementing a novel approach that first segments the data points into clusters and then each cluster is estimated for its planarity. The method is tested on indoor point cloud data obtained by 3D PrimeSense based sensor. In order to validate the algorithm, a simulated model containing a set of planes has been constructed, with noise injected into the model. The results of the empirical evaluation suggest that the method performs well even in the presence of the noise and non-planar objects, suggesting that the method will be a viable one for use in MAV navigation in the presence of noisy sensor data.

Place, publisher, year, edition, pages
Delft University of Technology and Thales , 2011. p. 48-55
Keywords [en]
Micro Air Vehicle; autonomous flight; plane extraction
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-46472DOI: 10.4233/uuid:1d0feaf6-fc37-4a14-a707-173a66291c40OAI: oai:DiVA.org:oru-46472DiVA, id: diva2:869004
Conference
International Micro Air Vehicle conference and competitions 2011 (IMAV 2011), 't Harde, The Netherlands, September 12-15, 2011
Available from: 2012-09-18 Created: 2015-11-12 Last updated: 2018-01-10Bibliographically approved

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Siddiqui, J. Rafid

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf