Remove the need for Balls

[LeonardoPohl]

Balls are useless. Lets do something else. Lets just detect the floor for every camera. With the floors we can determine the height of the cameras. Using the point clouds use some fancy ransac or something to find salient points.

• Using 2 Point+Normal Sets for fast Registration of Point Clouds with Small Overlap apparently does it in linear time cuds to them.
• DPDist
• The MIR website might also have some neat information on the topic, maybe 2D Salient points are applicable

[LeonardoPohl]

This Repository contains a lot of possibly useful papers on Point clouds and what to do with them.

[LeonardoPohl]

Detect Floor and Ceiling