A Planes Detection Algorithm Based on Feature Distribution

For detecting multiple planar regions rapidly in the image sequence, this paper proposed a novel algorithm. First of all, the method uses RANSAC to detect a dominant homography, then, the method calculates the poles corresponding to the two images based on homography constraint and classify all the matching feature points. When detect the homography corresponding to more planes based on RANSAC once more, only three pairs of feature points should be selected from the classified feature points, that is, define the to be determined plane homography model together with a pair of poles, and this can improve the detection efficiency. Simulation and real experiment results show hat the proposed algorithm is robust to the existence of mismatched features and is applicable to either stereo or motion sequence images.