TY - GEN
T1 - Exploiting vertical lines in vision-based navigation for mobile robot platforms
AU - Zhou, Jin
AU - Li, Baoxin
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Homography transform
KW - Robot vision systems
UR - http://www.scopus.com/inward/record.url?scp=34547538885&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34547538885&partnerID=8YFLogxK
U2 - 10.1109/ICASSP.2007.366717
DO - 10.1109/ICASSP.2007.366717
M3 - Conference contribution
AN - SCOPUS:34547538885
SN - 1424407281
SN - 9781424407286
T3 - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
SP - I465-I468
BT - 2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07
T2 - 2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07
Y2 - 15 April 2007 through 20 April 2007
ER -