Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter
Seunghyeon Lim,Youngjae Yoo,Jun Ki Lee,Byoung-Tak Zhang,Seunghyeon Lim,Youngjae Yoo,Jun Ki Lee,Byoung-Tak Zhang
In this paper, we propose a novel method for plane clustering specialized in cluttered scenes using an RGB-D camera and validate its effectiveness through robot grasping experiments. Unlike existing methods, which focus on large- scale indoor structures, our approach—Multi-Object RANSAC emphasizes cluttered environments that contain a wide range of objects with different scales. It enhances plane ...
