On-line planar area segmentation from sequence of monocular monochrome images for visual navigation of autonomous robot

Ohnishi Naoya, Yoshihiko Mochizuki, Atsushi Imiya, Tomoya Sakai

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

2 Citations (Scopus)

Abstract

We introduce an on-line segmentation of a planar area from a sequence of images for visual navigation of a robot. We assume that the robot moves autonomously in a man-made environment without any stored map in the memory or any markers in the environment. Since the robot moves in a man-made environment, we can assume that the robot workspace is a collection of spatial plane segments. The robot is needed to separate a ground plane from an image and/or images captured by imaging system mounted on the robot. The ground plane defines a collision-free space for navigation. We develop a strategy for computing the navigation direction using a hierarchical expression of plane segments in the workspace. The robot is required to extract a spatial hierarchy of plane segments from images. We propose an algorithm for plane segmentation using an optical flow field captured by an uncalibrated moving camera.

Original languageEnglish
Title of host publicationVISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications
Pages435-442
Number of pages8
Volume1
Publication statusPublished - 2010
Externally publishedYes
Event5th International Conference on Computer Vision Theory and Applications, VISAPP 2010 - Angers
Duration: 2010 May 172010 May 21

Other

Other5th International Conference on Computer Vision Theory and Applications, VISAPP 2010
CityAngers
Period10/5/1710/5/21

Keywords

  • Fractional differentiation
  • Optical flow
  • Variational image analysis

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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  • Cite this

    Naoya, O., Mochizuki, Y., Imiya, A., & Sakai, T. (2010). On-line planar area segmentation from sequence of monocular monochrome images for visual navigation of autonomous robot. In VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications (Vol. 1, pp. 435-442)