Advanced plane properties by using level image

Abstract

This paper deals with advanced plane properties in analyzed point clouds. Planes are detected by the level connected component labeling, which is our modification of the classical algorithm for 3D data. According selected detection parameters and a scanning dimension the algorithm detects individual levels in an input point cloud. A level is presented by an image expressing the points' presence at a specific level in a space, we call it level image. The pixel size in a level image is equal to the point cloud distance quantization. This connection allows us to use image processing methods to get important properties about the analyzed 3D space, which can be difficult to get by the standard mathematical solution. Image processing methods offers a simple plane segmentation and visualization or area and perimeter estimation including statistical data description. The results show level image advantages.

Advanced Methods for Point Cloud Processing and Simplification

“…In the papers [29,30], we introduced a novel algorithm called the Level Connected Component Labeling (LCCL) for global 3D data analysis in terms of detecting global levels with high data concentration in selected space dimensions. A planar surface presence is indicated mainly by the high concentration of points in the particular dimension at the specific level.…”

The Fine Plane Range Estimation From Point Cloud

“…The plane detection algorithm is introduced in [8]. For the purpose of this paper it is necessary to explain how a plane is detected.…”

“…3. For more information about the level image, its utilisation to get important plane's space properties or how to isolate individual planes in one level, see [8] and [10].…”

“…In case of any value does not meet the condition (8), the algorithm ends the search and the final elbow's position is on the index ℎ � ± ⋅ ( + 1)� . Two red dots in Fig.…”

“…In our research [8], [9], and [10] we use own modified connected component labeling algorithm for 3D space -LCCL (Level Connected Component Labeling). A plane presence is determined by the higher points' concentration in the scanning dimension.…”