Abstract
This paper describes a 3D plane detection method for an intelligent robot to detect unknown objects based on an information of 3D range sensor. Previously, various methods have been proposed to perceive unknown environments. However, previous unknown object detection methods have problems which are high computational costs and low-accuracy for small object detection. In order to solve these problems, we propose an online processable unknown object detection method based on 3D plane detection. The proposed method consists of a simple plane detection that applies particle swarm optimization (PSO) with region growing (RG) and an integrated object plane detection. The proposed simple plane detection is focused on to detect small planes and to reduce computational costs. To improve the accuracy of plane detection, we apply PSO and RG. Furthermore, an integrated object plane detection focuses on the stability of the detecting plane. Through experiments of object detection, we show that the computational costs are reduced drastically for real time operations. Furthermore, we show the improvement of small plane detection accuracy.
