Efficient Organized Point Cloud Segmentation with Connected Components
نویسندگان
چکیده
Segmentation is an important step in many perception tasks, such as object detection and recognition. We present an approach to organized point cloud segmentation and its application to plane segmentation, and euclidean clustering for tabletop object detection. The proposed approach is efficient and enables real-time plane segmentation for VGA resolution RGB-D data. Timing results are provided for indoor datasets, and applications to tabletop object segmentation and mapping with planar landmarks are discussed.
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