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 Scopus citations

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 publication2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07
PagesI465-I468
DOIs
StatePublished - Aug 6 2007
Event2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07 - Honolulu, HI, United States
Duration: Apr 15 2007Apr 20 2007

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume1
ISSN (Print)1520-6149

Other

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

    Fingerprint

Keywords

  • Homography transform
  • Robot vision systems

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering

Cite this

Zhou, J., & Li, B. (2007). Exploiting vertical lines in vision-based navigation for mobile robot platforms. In 2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07 (pp. I465-I468). [4217117] (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings; Vol. 1). https://doi.org/10.1109/ICASSP.2007.366717