Assignment 6: Range Images
This assignment dealt with range images and how they can be processed to find planar surfaces.
Source Code:Detecting planar surfaces using hough transforms
Surfaces have the property that the normal vectors on every point of the surface have the same direction. We use this fact to mark flat surfaces in a range image. A hough space kind of technique is used for determining if a particular normal's direction occurs frequently indicating that is a part of a significant surface. We create an alpha, beta space based on the unit vector at the surface points. An accumulator count gives us an indication of what points may lie on the same plane.
The images below show the original image and the processed image. Different graylevel values are used to mark different surfaces. Notice that there is a lot of noise associated with the walls and the floor
