Homography-based ground detection for a mobile robot platform using a single camera

Zhou Jin, Baoxin Li

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

31 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages4100-4105
Number of pages6
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period5/15/065/19/06

Keywords

  • Mobile robot
  • Obstacle detection

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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