Automatic online walls detection for immediate use in AR tasks

This paper proposes a method to automatically detect and reconstruct planar surfaces for immediate use in AR tasks. Traditional methods for plane detection are typically based on the comparison of transfer errors of a homography, which make them sensitive to the choice of a discrimination threshold. We propose a very different approach: the image is divided into a grid and rectangles that belong to the same planar surface are clustered around the local maxima of a Hough transform. As a result, we simultaneously get clusters of coplanar rectangles and the image of their intersection line with a reference plane, which easily leads to their 3D position and orientation. Results are shown on both synthetic and real data.