The purpose of this project is to perform a com- parative study of plane detection algorithms by altering the computational process flow and filter parameters to determine the impact on the results and performance. We evaluate several different processing workflows by testing each preprocessing chain with varying parameters for each component in the chain. The end goal is to be able to find the best combination of process chain and filter parameters to get the best result as quickly as possible. The implementation relies on the Point Cloud Library (PCL) in Robot Operating System (ROS). The testing has been performed by collecting sensor data from WPI’s DARPA Robotics Challenge hardware platform, Atlas.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Palnick, Jacob Hillel

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050214-082646

Advisor

• Padir, Taskin

Year

• 2014

Date created

• 2014-05-02

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright