V.P. Noskov
PhD in Technical Sciences, Bauman Moscow State Technical University (BMSTU), Head of Sector Scientific Research Institute of Special Machine Building, Assistant Professor, 5, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(916)676-60-57, This email address is being protected from spambots. You need JavaScript enabled to view it.

I.O. Kiselev
BMSTU, Postgraduate Student, 5, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(965)212-43-89, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 10 May 2018

The actual problem of 3D reconstruction of the industrial-urban environment model solved by the selection of linear objects (lines and planes) in stadiametric 3D images is considered. The analysis of the known methods and algorithms of plane objects selection from the point cloud is carried out and the method is proposed, which is based on a two-stage transformation of the initial data taking into account their linear structuring. Performance of the proposed approach is compared with the famous ones. The effectiveness of the proposed algorithm is confirmed by the experiment.
This work is supported by the Russian Foundation for Basic Research (grant no.16-29-04178офи_м).

Key words
Industrial-urban environment, long-range 3D images, linear primitives, Hough Transform, geometrical model, semantic model, navigation.

Bibliographic description
Noskov, V. and Kiselev, I. (2018). Selection of plane objects in linear-structured 3D-images. Robotics and Technical Cybernetics, 2(19), pp.31-38.

UDC identifier:


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