Exploiting vertical lines in vision-based navigation for mobile robot platforms

Jin Zhou, Baoxin Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Vertical line-like structures are abundant in man-made environments, such as the vertical edges of buildings in an outdoor environment and door frames and vertical edges of furniture in an indoors environment. These ubiquitous line or line-like structures may provide useful information for mobile robot navigation. In this paper, we propose an approach to estimating the camera orientation based on detected vertical lines. Further we use the estimated camera orientation in one key problem of mobile robot navigation: ground/obstacle detection. Our method is theoretically well-grounded and yet simple and practical in implementation.

Original languageEnglish (US)
Title of host publicationICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume1
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07 - Honolulu, HI, United States
Duration: Apr 15 2007Apr 20 2007

Other

Other2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07
CountryUnited States
CityHonolulu, HI
Period4/15/074/20/07

Fingerprint

navigation
robots
Mobile robots
Navigation
platforms
Cameras
cameras
estimating

Keywords

  • Homography transform
  • Robot vision systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Signal Processing
  • Acoustics and Ultrasonics

Cite this

Zhou, J., & Li, B. (2007). Exploiting vertical lines in vision-based navigation for mobile robot platforms. In ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings (Vol. 1). [4217117] https://doi.org/10.1109/ICASSP.2007.366717

Exploiting vertical lines in vision-based navigation for mobile robot platforms. / Zhou, Jin; Li, Baoxin.

ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. Vol. 1 2007. 4217117.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zhou, J & Li, B 2007, Exploiting vertical lines in vision-based navigation for mobile robot platforms. in ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. vol. 1, 4217117, 2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07, Honolulu, HI, United States, 4/15/07. https://doi.org/10.1109/ICASSP.2007.366717
Zhou J, Li B. Exploiting vertical lines in vision-based navigation for mobile robot platforms. In ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. Vol. 1. 2007. 4217117 https://doi.org/10.1109/ICASSP.2007.366717
Zhou, Jin ; Li, Baoxin. / Exploiting vertical lines in vision-based navigation for mobile robot platforms. ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. Vol. 1 2007.
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