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.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering