Abstract
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.
| Original language | English |
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| Title of host publication | VISAPP 2010 - Proceedings of the International Conference on Computer Vision Theory and Applications |
| Pages | 435-442 |
| Number of pages | 8 |
| Volume | 1 |
| Publication status | Published - 2010 |
| Externally published | Yes |
| Event | 5th International Conference on Computer Vision Theory and Applications, VISAPP 2010 - Angers Duration: 2010 May 17 → 2010 May 21 |
Other
| Other | 5th International Conference on Computer Vision Theory and Applications, VISAPP 2010 |
|---|---|
| City | Angers |
| Period | 10/5/17 → 10/5/21 |
Keywords
- Fractional differentiation
- Optical flow
- Variational image analysis
ASJC Scopus subject areas
- Computational Theory and Mathematics
- Computer Science Applications
- Computer Vision and Pattern Recognition