RANSAC-Based Planar Point Cloud Segmentation Enhanced by Normal Vector and Maximum Principal Curvature Clustering

Abstract. Planar feature segmentation is an essential task for 3D point cloud processing, finding many applications in various fields such as robotics and computer vision. The Random Sample Consensus (RANSAC) is one of the most common algorithms for the segmentation, but its performance, as given by the original form, is usually limited due to the use of a single threshold and interruption of similar planar features presented close to each other. To address these issues, we present a novel point cloud processing workflow which aims at developing an initial segmentation stage before the basic RANSAC is performed. Initially, normal vectors and maximum principal curvatures for each point of a given point cloud are analyzed and integrated. Subsequently, a subset of normal vectors and curvature is utilized to cluster planes with similar geometry based on the region growing algorithm, serving as a coarse but fast segmentation process. The segmentation is therefore refined with the RANSAC algorithm which can be now performed with higher accuracy and speed due to the reduced interference. After the RANSAC process is applied, resultant planar point clouds are built from the sparse ones via a point aggregation process based on geometric constraints. Four datasets (three real and one simulated) were used to verify the method. Compared to the classic segmentation method, our method achieves higher accuracy, with an RMSE from fitting equal to 0.0521 m, along with a higher recall of 93.31% and a higher F1-score of 95.38%.