How to build a virtual grid(polar) to put 3D points in bins and detect objects at different height in MATLAB ?

I have 3D points of a scene by using libviso2, Now I want to build a virtual grid (polar) to put the points in bins and detect objects at different heights. To search for the ground plane in the scene, I want to use RANSAC and the equation of a plane in 3D. My input images to the visualSLAM (libviso2) are images from a stereo camera.

Is there any available open source code which can do this?

Asked by Sean_001 on 2015-08-20 05:35:11 UTC

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I'm not sure I understand what you're saying about the polar grid, but most people use point cloud library for stuff like this. There are ready made functions for detecting planes, as well as other shapes. This page highlights a bunch of the other capabilities the library has.

Asked by Airuno2L on 2015-08-20 12:59:48 UTC