Point-plane SLAM for hand-held 3D sensors

Yuichi Taguchi, Yong Dian Jian, Srikumar Ramalingam, Chen Feng

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present a simultaneous localization and mapping (SLAM) algorithm for a hand-held 3D sensor that uses both points and planes as primitives. We show that it is possible to register 3D data in two different coordinate systems using any combination of three point/plane primitives (3 planes, 2 planes and 1 point, 1 plane and 2 points, and 3 points). Our algorithm uses the minimal set of primitives in a RANSAC framework to robustly compute correspondences and estimate the sensor pose. As the number of planes is significantly smaller than the number of points in typical 3D data, our RANSAC algorithm prefers primitive combinations involving more planes than points. In contrast to existing approaches that mainly use points for registration, our algorithm has the following advantages: (1) it enables faster correspondence search and registration due to the smaller number of plane primitives; (2) it produces plane-based 3D models that are more compact than point-based ones; and (3) being a global registration algorithm, our approach does not suffer from local minima or any initialization problems. Our experiments demonstrate real-time, interactive 3D reconstruction of indoor spaces using a hand-held Kinect sensor.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Number of pages8
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'Point-plane SLAM for hand-held 3D sensors'. Together they form a unique fingerprint.

Cite this