Yang Wang, Junyuan Wang, Wenhua Du, Nengquan Duan. Point Cloud Plane Fitting Algorithm Based on Least Square Median[J]. Laser & Optoelectronics Progress, 2023, 60(4): 0410019
- Laser & Optoelectronics Progress
- Vol. 60, Issue 4, 0410019 (2023)
Fig. 1. Point cloud on wall of St. Gallen Cathedral
Fig. 2. Fitting effect of point cloud on wall of St. Gallen Cathedral. (a) Wall point cloud; (b) RANSAC and PCA fitting; (c) LMedS and PCA fitting
Fig. 3. Line laser sensor platform, sheet metal parts, and point cloud data. (a) Line laser sensor platform; (b) sheet metal parts and surface point cloud
Fig. 4. Fitting effect of point cloud on sheet metal surface. (a) Sheet metal part surface point cloud; (b) RANSAC and PCA fitting; (c) LMedS and PCA fitting
Fig. 5. Desktop point cloud containing sundries such as cups and hats
Fig. 6. Fitting effect of desktop point cloud with sundries such as cups and hats. (a) Desktop point cloud; (b) RANSAC fitting;(c) LMedS fitting
Fig. 7. Comparison of fitting results between LMedS and RANSAC. (a) Running time of two algorithms; (b) standard deviation of two algorithms
Fig. 8. Correct fitting results and fitting results with certain errors of wall point cloud using LMedS. (a) Correct fitting plane; (b) (c) fitting plane with large error
Fig. 9. Correct fitting results and fitting results with certain errors of point cloud on surface of sheet metal parts using LMedS. (a) Correct fitting plane; (b) fitting plane with large error
Fig. 10. Correct fitting results and fitting results with certain errors of desktop point cloud using LMedS. (a) Correct fitting plane; (b) fitting plane with large error
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Table 1. P=95%, minimum number of iterations K with minimum number of samples n
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Table 2. Comparison of plane parameters of point cloud fitting on wall of St. Gallen Cathedral
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Table 3. Comparison of surface point cloud fitting plane parameters of sheet metal parts
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Table 4. Comparison of fitting plane parameters of desktop point cloud including cups, hats, and other sundries
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