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

Jin Zhou; Baoxin Li

doi:10.1109/ICIP.2006.312972

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 proceeding › Conference contribution

48 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 language	English (US)
Title of host publication	2006 IEEE International Conference on Image Processing, ICIP 2006 - Proceedings
Pages	3017-3020
Number of pages	4
DOIs	https://doi.org/10.1109/ICIP.2006.312972
State	Published - 2006
Event	2006 IEEE International Conference on Image Processing, ICIP 2006 - Atlanta, GA, United States Duration: Oct 8 2006 → Oct 11 2006

Publication series

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

Other

Other	2006 IEEE International Conference on Image Processing, ICIP 2006
Country/Territory	United States
City	Atlanta, GA
Period	10/8/06 → 10/11/06

Keywords

Homography
Vision-based navigation

ASJC Scopus subject areas

Software
Computer Vision and Pattern Recognition
Signal Processing

Access to Document

10.1109/ICIP.2006.312972

Cite this

Robust ground plane detection with normalized homography in monocular sequences from a robot platform. / Zhou, Jin; Li, Baoxin.
2006 IEEE International Conference on Image Processing, ICIP 2006 - Proceedings. 2006. p. 3017-3020 4107205 (Proceedings - International Conference on Image Processing, ICIP).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhou, J & Li, B 2006, Robust ground plane detection with normalized homography in monocular sequences from a robot platform. in 2006 IEEE International Conference on Image Processing, ICIP 2006 - Proceedings., 4107205, Proceedings - International Conference on Image Processing, ICIP, pp. 3017-3020, 2006 IEEE International Conference on Image Processing, ICIP 2006, Atlanta, GA, United States, 10/8/06. https://doi.org/10.1109/ICIP.2006.312972

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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.",

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

Abstract

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Keywords

ASJC Scopus subject areas

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