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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルVISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications
ページ435-442
ページ数8
1
出版ステータスPublished - 2010
外部発表はい
イベント5th International Conference on Computer Vision Theory and Applications, VISAPP 2010 - Angers
継続期間: 2010 5 172010 5 21

Other

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

ASJC Scopus subject areas

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

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