NDLI: Floor plane recovery from monocular vision for autonomous mobile robot on indoor environments

Content Provider	IEEE Xplore Digital Library
Author	Cruz-Lunagomez, D.F. Alonso-Ramirez, O. Marin-Hernandez, A. Montes-Gonzalez, F.M. Marin-Urias, L.F.
Copyright Year	2011
Description	Author affiliation: Department of Artificial Intelligence, Universidad Veracruzana, Spain (Cruz-Lunagomez, D.F.; Alonso-Ramirez, O.; Marin-Hernandez, A.; Montes-Gonzalez, F.M.; Marin-Urias, L.F.)
Abstract	Floor plane recovery is a very important issue on mobile robotics. Without the using of specialized hardware as Laser Range Finders (LRF) or some others optical time-of-flight sensors, plane recovery is really a challenge. In this paper we present a robust approach for plane recovery from monocular images coming from an uncalibrated active Pan/Tilt/Zoom (PTZ) camera mounted on a mobile robot platform. Floor plane is obtained by tracking features, as interest points, between two sequential images taken by the robot camera. Projective invariants are measured over groups of five non-three collinear feature points, in order to detect groups of points on the same plane. Then homographies are calculated for each invariant group of points and finally by a vote system the homography with a higher value, determines the major plane on the image sequence.
Starting Page	222
Ending Page	226
File Size	334509
Page Count	5
File Format	PDF
ISBN	9781424495580
e-ISBN	9781424495597
DOI	10.1109/CONIELECOMP.2011.5749364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-02-28
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Floors Computer vision Cameras Optical imaging Image motion analysis Mobile robots
Content Type	Text
Resource Type	Article

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