Plane detection to improve 3D scanning speed using RANSAC algorithm

When an operator teleoperates a rescue robot, it is necessary for the operator to understand the relationship between the robot and its environment while indirect-vision driving. A LRF (Laser Range Finder) installed on a rotating stage is often used for scanning the environment in order to give the operator spatial information, while there is a tradeoff between its scanning speed and point density. To solve the problem, we implement plane detection by RANSAC (RANdom SAmple Consensus) algorithm, integration of overlapped planes using tables and drawing them as convex hulls. The experimental results show that the scanning speed could be improved because the result of 3D scanning with a low point density shows a good match for that with a high point density by using the implemented methods.