detect straight lines/ Walls from given 3D points

Dear all,

I have 3D points of indoor enviroment. I want to remove Walls and leftover should be whatever is between. Any help or suggestion is highly appricated. I have attached the 3d points too (100.txt).

Answer 1

[Image Analyst]

The method I've heard of is RANSAC.

[Aravin]

Thank you. Could you please help me to start fiting the ransac on the given file ?

[Image Analyst]

Sorry but I don't have time for that. All I can offer is

https://en.wikipedia.org/wiki/Random_sample_consensus

https://www.mathworks.com/help/vision/ref/ransac.html?s_tid=doc_ta

https://www.mathworks.com/help/vision/ref/fitpolynomialransac.html?s_tid=doc_ta

You should also look at the LIDAR toolbox:

https://www.mathworks.com/help/lidar/index.html?searchHighlight=lidar&s_tid=srchtitle_lidar_1

Good luck though.