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 引用 (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.

元の言語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
出版物ステータスPublished - 2010
外部発表Yes
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
Angers
期間10/5/1710/5/21

Fingerprint

Navigation
Robots
Optical flows
Imaging systems
Flow fields
Cameras
Data storage equipment

ASJC Scopus subject areas

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

これを引用

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. : VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications (巻 1, pp. 435-442)

On-line planar area segmentation from sequence of monocular monochrome images for visual navigation of autonomous robot. / Naoya, Ohnishi; Mochizuki, Yoshihiko; Imiya, Atsushi; Sakai, Tomoya.

VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications. 巻 1 2010. p. 435-442.

研究成果: Conference contribution

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. : VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications. 巻. 1, pp. 435-442, 5th International Conference on Computer Vision Theory and Applications, VISAPP 2010, Angers, 10/5/17.
Naoya O, Mochizuki Y, Imiya A, Sakai T. On-line planar area segmentation from sequence of monocular monochrome images for visual navigation of autonomous robot. : VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications. 巻 1. 2010. p. 435-442
Naoya, Ohnishi ; Mochizuki, Yoshihiko ; Imiya, Atsushi ; Sakai, Tomoya. / On-line planar area segmentation from sequence of monocular monochrome images for visual navigation of autonomous robot. VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications. 巻 1 2010. pp. 435-442
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