ICIP 2006, Atlanta, GA
 

Slide Show

Atlanta Conv. & Vis. Bureau

 

Technical Program

Paper Detail

Paper:WP-P1.7
Session:Visual Object/Event Detection, Segmentation, and Classification
Time:Wednesday, October 11, 14:20 - 17:00
Presentation: Poster
Title: ROBUST GROUND PLANE DETECTION WITH NORMALIZED HOMOGRAPHY IN MONOCULAR SEQUENCES FROM A ROBOT PLATFORM
Authors: Jin Zhou; Arizona State University 
 Baoxin Li; Arizona State University 
Abstract: We present a homography-based approach to detect the ground plane from monocular sequences captured by a robot platform. By assuming that the camera is fixed on the robot platform and can at most rotate horizontally, we derive the constraints that the homograph of the ground plane must satisfy and then use these constraints to design algorithms for detecting the ground plane. The resultant algorithm is not only more efficient and robust, but also able to avoid false detection due to virtual planes in homography fitting. We present experiments with real data from a robot platform to validate the proposed approaches.