Robust Estimation Approach for Plane Fitting in 3D Laser Scanning Data

摘要

In view of the traditional least square algorithm for plane fitting has the disadvantage of poor resistance, a robust plane parameters estimation method is proposed. The key point is that p-norm (< mathrm{p}leq 1$) minimum was used. The experiments show that the method has good robustness to fit plane with outliers up to 50% using simulated data and real scanning data.