TY - GEN
T1 - Homography-based ground detection for a mobile robot platform using a single camera
AU - Jin, Zhou
AU - Li, Baoxin
PY - 2006
Y1 - 2006
N2 - This paper presents a practical approach to ground detection in mobile robot applications based on a monocular sequence captured by an on-board camera. We formulate the problem of ground plane detection as one of estimating the dominant homography between two frames taken from the sequence, and then design an efficient algorithm for the estimation. In particular, we analyze a problem inherent to any homography-based approach to the given task, and show how the proposed approach can address this problem to a large degree. Although not explicitly discussed, the proposed method can be used to guide the maneuver of the robot, as the detected ground plane can in turn be used in obstacle avoidance.
AB - This paper presents a practical approach to ground detection in mobile robot applications based on a monocular sequence captured by an on-board camera. We formulate the problem of ground plane detection as one of estimating the dominant homography between two frames taken from the sequence, and then design an efficient algorithm for the estimation. In particular, we analyze a problem inherent to any homography-based approach to the given task, and show how the proposed approach can address this problem to a large degree. Although not explicitly discussed, the proposed method can be used to guide the maneuver of the robot, as the detected ground plane can in turn be used in obstacle avoidance.
KW - Mobile robot
KW - Obstacle detection
UR - http://www.scopus.com/inward/record.url?scp=33845623874&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845623874&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642332
DO - 10.1109/ROBOT.2006.1642332
M3 - Conference contribution
AN - SCOPUS:33845623874
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4100
EP - 4105
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -