Finding cones from multiscan range maps

摘要

Abstract: Two algorithms are presented to locate a cone with a known shape from a range scan map. They are ellipse fitting and three-scan methods. The localization problem includes the finding of both cone's orientation and displacement relative to the sensing coordinate system. The work described in this paper is an extension to the problem of extracting the cylinder parameters from a depth scan map. The range data are obtained from either a light-stripe based range sensor or a line range sensor, which measures the distance between the sensor and the nearest points on the intersection of the light plane and the scene. The three- scan method uses range data from three scan lines of measurements. It does not use any ellipse fitting. This method first extracts the orientation parameters of at least three cone's generators and then derive the axis direction vector from the cone's generators. The performance of this method is compared with the usual ellipse fitting method.!8