Detection of planar segments in point cloud using wavelet transform
Abstract
In this paper we propose a new method for 3D plane segmentation and fitting from point cloud. The method is based on discrete wavelet transform. In particular, we exploit the sensitivity of certain wavelets to abrupt changes in the signal, as well as their orthonormality to linear functions to effectively recognize planar regions. The application of the proposed method is evaluated using two examples. The first example refers to a synthesized signal, and the second, real world example deals with the detection of the welding seam pose within adaptive control of robotized continuous welding.
Keywords:
point cloud / plane segmentation / reverse engineeringSource:
Proceedings of the 35th International Conference on Production Engineering, 2013, 205-208Funding / projects:
- Smart Robotic Systems for Customized Manufacturing (RS-MESTD-Technological Development (TD or TR)-35007)
- Research and development of modelling methods and approaches in manufacturing of dental recoveries with the application of modern technologies and computer aided systems (RS-MESTD-Technological Development (TD or TR)-35020)
- The development of a new generation of domestic machining systems (RS-MESTD-Technological Development (TD or TR)-35022)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Jakovljević, Živana AU - Puzović, Radovan PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/5182 AB - In this paper we propose a new method for 3D plane segmentation and fitting from point cloud. The method is based on discrete wavelet transform. In particular, we exploit the sensitivity of certain wavelets to abrupt changes in the signal, as well as their orthonormality to linear functions to effectively recognize planar regions. The application of the proposed method is evaluated using two examples. The first example refers to a synthesized signal, and the second, real world example deals with the detection of the welding seam pose within adaptive control of robotized continuous welding. C3 - Proceedings of the 35th International Conference on Production Engineering T1 - Detection of planar segments in point cloud using wavelet transform EP - 208 SP - 205 UR - https://hdl.handle.net/21.15107/rcub_machinery_5182 ER -
@conference{ author = "Jakovljević, Živana and Puzović, Radovan", year = "2013", abstract = "In this paper we propose a new method for 3D plane segmentation and fitting from point cloud. The method is based on discrete wavelet transform. In particular, we exploit the sensitivity of certain wavelets to abrupt changes in the signal, as well as their orthonormality to linear functions to effectively recognize planar regions. The application of the proposed method is evaluated using two examples. The first example refers to a synthesized signal, and the second, real world example deals with the detection of the welding seam pose within adaptive control of robotized continuous welding.", journal = "Proceedings of the 35th International Conference on Production Engineering", title = "Detection of planar segments in point cloud using wavelet transform", pages = "208-205", url = "https://hdl.handle.net/21.15107/rcub_machinery_5182" }
Jakovljević, Ž.,& Puzović, R.. (2013). Detection of planar segments in point cloud using wavelet transform. in Proceedings of the 35th International Conference on Production Engineering, 205-208. https://hdl.handle.net/21.15107/rcub_machinery_5182
Jakovljević Ž, Puzović R. Detection of planar segments in point cloud using wavelet transform. in Proceedings of the 35th International Conference on Production Engineering. 2013;:205-208. https://hdl.handle.net/21.15107/rcub_machinery_5182 .
Jakovljević, Živana, Puzović, Radovan, "Detection of planar segments in point cloud using wavelet transform" in Proceedings of the 35th International Conference on Production Engineering (2013):205-208, https://hdl.handle.net/21.15107/rcub_machinery_5182 .