Robust ground plane detection with normalized homography in monocular sequences from a robot platform

Jin Zhou, Baoxin Li

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

38 Scopus citations

Abstract

We present a homography-based approach to detect the ground plane from monocular sequences captured by a robot platform. By assuming that the camera is fixed on the robot platform and can at most rotate horizontally, we derive the constraints that the homograph of the ground plane must satisfy and then use these constraints to design algorithms for detecting the ground plane. Due to the reduced degree of freedom, the resultant algorithm is not only more efficient and robust, but also able to avoid false detection due to virtual planes. We present experiments with real data from a robot platform to validate the proposed approaches.

Original languageEnglish (US)
Title of host publication2006 IEEE International Conference on Image Processing, ICIP 2006 - Proceedings
Pages3017-3020
Number of pages4
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Image Processing, ICIP 2006 - Atlanta, GA, United States
Duration: Oct 8 2006Oct 11 2006

Publication series

NameProceedings - International Conference on Image Processing, ICIP
ISSN (Print)1522-4880

Other

Other2006 IEEE International Conference on Image Processing, ICIP 2006
CountryUnited States
CityAtlanta, GA
Period10/8/0610/11/06

Keywords

  • Homography
  • Vision-based navigation

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Signal Processing

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