Plane extraction and error modeling of 3D data

Abstract

We are interested in using natural landmarks obtained by a stereo system not only in SLAM-like algorithms but also feature extraction, map building, and so on. Using a stereo camera we can extract planes and geometrical primitives like that. In order to use these primitives a perceptual model of landmarks is needed, due to error model can improve the results. In this paper we present a method to get the perceptual model of the plane extraction process. We will show that the use of this model improves the results and some points about its possible use are detailed.