Results on Range Image Segmentation for Service Robots

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets of 25 range images either obtained by simulation or acquired by a proprietary 3D laser scanner. The performance of the range image segmentation is measured in terms of an average segment classification ratio. Moreover, the speed of the method is measured to conclude on the suitability for service robot applications.