Real-time plane detection based on depth map from Kinect

This paper suggests a system to detect multiple planes fast and roughly based on a depth map from depth camera `Kinect'. In order to improve the speed of the plane detection process, we compute local normal vectors of points of the depth map and we classify 3D point cloud data whether it includes in the same plane using these local normal vectors. It is possible to detect multiple planes simultaneously. Experimental results show that the proposed method is faster than previous plane detection methods such as 3D Hough Transform and RANSAC, and also works in real-time.