| Presentation | 2004/9/3 Dominant plane detection from optical flow for robot navigation Naoya OHNISHI, Atsushi IMIYA, |
|---|---|
| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we develop an algorithm for dominant plane detection using the optical flow observed by means of a vision system mounted on an autonomous mobile robot. The dominant plane estimation is an essential task for the autonomous navigation and the path planning of the mobile robot, since the dominant plane occupies the largest domain in the image and the robot moves on the dominant plane. We show that the points on the dominant plane in a pair of two successive images are combined with an affine transformation if the mobile robot obtains successive images for optical flow computation. Therefore, our algorithm detects the dominant plane from images observed by an uncalibrated camera without any assumptions of camera displacement. We experiment with the detection of the dominant plane using a real image sequence and evaluate an error with a test image sequence. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Robot vision / Optical flow / Dominant plane / Homography |
| Paper # | PRMU2004-60 |
| Date of Issue |
| Conference Information | |
| Committee | PRMU |
|---|---|
| Conference Date | 2004/9/3(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
|---|---|
| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Dominant plane detection from optical flow for robot navigation |
| Sub Title (in English) | |
| Keyword(1) | Robot vision |
| Keyword(2) | Optical flow |
| Keyword(3) | Dominant plane |
| Keyword(4) | Homography |
| 1st Author's Name | Naoya OHNISHI |
| 1st Author's Affiliation | School of Science and Technology, Chiba University() |
| 2nd Author's Name | Atsushi IMIYA |
| 2nd Author's Affiliation | IMIT |
| Date | 2004/9/3 |
| Paper # | PRMU2004-60 |
| Volume (vol) | vol.104 |
| Number (no) | 290 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |