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arXiv · 2403.12449

Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter

Seunghyeon Lim·Youngjae Yoo·Jun Ki Lee·Byoung-Tak Zhang
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Abstract

In this paper, we propose a novel method for plane clustering specialized in cluttered scenes using an RGB-D camera and validate its effectiveness through robot grasping experiments. Unlike existing methods, which focus on large-scale indoor structures, our approach -- Multi-Object RANSAC emphasizes cluttered environments that contain a wide range of objects with different scales. It enhances plane segmentation by generating subplanes in Deep Plane Clustering (DPC) module, which are then merged with the final planes by post-processing. DPC rearranges the point cloud by voting layers to make subplane clusters, trained in a self-supervised manner using pseudo-labels generated from RANSAC. Multi-Object RANSAC demonstrates superior plane instance segmentation performances over other recent RANSAC applications. We conducted an experiment on robot suction-based grasping, comparing our method with vision-based grasping network and RANSAC applications. The results from this real-world scenario showed its remarkable performance surpassing the baseline methods, highlighting its potential for advanced scene understanding and manipulation.

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Seunghyeon Lim, Youngjae Yoo, Jun Ki Lee, Byoung-Tak Zhang. 2024-03-19. Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter. https://arxiv.org/abs/2403.12449

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