We left off with the construction of a basic search tree structure using a possibility-based search with a balance of exploration, score, and chance (MCTS: Monte Carlo Tree Search). In this second part, I will introduce the improvements I found for the basic method.
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CAPE (Cylinder And Plane Extraction) is an extremely efficient method for extracting planes and cylinders in RGB-D images, based on an AHC (Agglomerative Hierarchical Clustering) method. Despite the effectiveness of this method, the C++ implementation of the paper has many flaws.
In this post, I will explain how I fixed most of these issues.
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