An Improved RANSAC for 3D Point Cloud Plane Segmentation Based on Normal Distribution Transformation Cells

摘要

Plane segmentation is a basic task in the automatic reconstruction of indoor and urban environments from unorganized point clouds acquired by laser scanners. As one of the most common plane-segmentation methods, standard Random Sample Consensus (RANSAC) is often used to continually detect planes one after another. However, it suffers from the spurious-plane problem when noise and outliers exist due to the uncertainty of randomly sampling the minimum subset with 3 points. An improved RANSAC method based on Normal Distribution Transformation (NDT) cells is proposed in this study to avoid spurious planes for 3D point-cloud plane segmentation. A planar NDT cell is selected as a minimal sample in each iteration to ensure the correctness of sampling on the same plane surface. The 3D NDT represents the point cloud with a set of NDT cells and models the observed points with a normal distribution within each cell. The geometric appearances of NDT cells are used to classify the NDT cells into planar and non-planar cells. The proposed method is verified on three indoor scenes. The experimental results show that the correctness exceeds 88.5% and the completeness exceeds 85.0%, which indicates that the proposed method identifies more reliable and accurate planes than standard RANSAC. It also executes faster. These results validate the suitability of the method.