Planar Segmentation by Time-of-Flight Cameras

  • Rudi Penne
  • Luc Mertens
  • Bart Ribbens
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8192)


This article presents a new feature for detecting planarity when using range images on the principle of Time of Flight (ToF). We derive homogeneous linear conditions for Time-of-Flight images of 3 or 4 points to be the projection of collinear or coplanar points respectively. The crucial part in our equations is played by the D/d-ratios of the ToF-distance D(u,v) and the internal radial distance (IRD) d(u,v) for each pixel (u,v). The knowledge of the IRD d may be a consequence of an accurate lateral calibration of the camera, but this IRD can also be directly obtained. Consequently, the proposed planarity condition holds in principle for uncalibrated camera’s. The elegance, efficiency and simplicity of our coplanarity constraint is illustrated in experiments on planarity tests and the segmentation of planar regions.


Planar Region Planar Segmentation Range Image Camera Centre Pixel Unit 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Rudi Penne
    • 1
    • 4
  • Luc Mertens
    • 1
  • Bart Ribbens
    • 1
    • 2
    • 3
  1. 1.Faculty of Applied EngineeringUniversity of AntwerpAntwerpBelgium
  2. 2.Laboratory of BioMedical PhysicsUniversity of AntwerpBelgium
  3. 3.Acoustics & Vibration Research Group, Department of Mechanical EngineeringFree University of BrusselsBelgium
  4. 4.Department of MathematicsUniversity of AntwerpBelgium

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