I used RANSAC to extract planes from the point cloud iteratively, but the intersection of two planes is always wrongly labeled. Like this, The blue part and the green part are two perpendicular planes extracted by RANSAC. Obviously, the blue one is first extracted, but it also includes the points on the green plane. These points do satisfy the equation of the blue plane, but they are not within the range of the blue plane. Though the point normal can be checked to tell if the specific point is labeled rightly, this will have much more computational cost. So does anybody know some better solutions which can solve this problem?
I have thought about it for a long time and feel there is no good solution. I don’t know if there are any related papers that can propose a good solution.