Multiple Plane Detection Method from Range Data of Digital Imaging System for Moving Robot Applications - Visual Computing: Scientific Visualization and Imaging Systems - page 203

Fig. 11.10 Comparison experiments for an obstacle on the indoor surface

Table 11.2 Planes parameter of experiments for an outdoor planar surface
1st plane 2nd plane 3rd plane 4th plane 5th plane 6th plane

CP CP CP CP CP CP

q(m) 1.01 0.99 0.97 0.93 0.96 - 1.02 - 0.93 - 0.91 -

h() 128 129 116 118 133 - 131 - 132 - 142 -

C Conventional method
P Proposed method

method, the parameters of the error data are not filtered and they make the wrong
peak in Hough parameter space.
Table 11.4 shows the detection speed for two comparison experiments. The
experiments prove that the proposed method is less affected by the noises and
uneven flat surfaces, and it can detect planes faster than the conventional RHT