NDLI: Homography-based ground plane detection for mobile robot navigation using a Modified EM algorithm

Content Provider	IEEE Xplore Digital Library
Author	Conrad, D. DeSouza, G.N.
Copyright Year	2010
Description	Author affiliation: Department of Electrical and Computer Engineering, University of Missouri, 349 Eng. Building West, Columbia, USA (Conrad, D.)
Abstract	In this paper, a homography-based approach for determining the ground plane using image pairs is presented. Our approach is unique in that it uses a Modified Expectation Maximization algorithm to cluster pixels on images as belonging to one of two possible classes: ground and non-ground pixels. This classification is very useful in mobile robot navigation because, by segmenting out the ground plane, we are left with all possible objects in the scene, which can then be used to implement many mobile robot navigation algorithms such as obstacle avoidance, path planning, target following, landmark detection, etc. Specifically, we demonstrate the usefulness and robustness of our approach by applying it to a target following algorithm. As the results section shows, the proposed algorithm for ground plane detection achieves an almost perfect detection rate (over 99%) despite the relatively higher number of errors in pixel correspondence from the feature matching algorithm used: SIFT.
Starting Page	910
Ending Page	915
File Size	1291310
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509457
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Clustering algorithms Pixel Cameras Layout Sonar navigation Image segmentation Robustness Robot vision systems Image reconstruction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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