Homography-based ground detection for a mobile robot platform using a single camera
Homography-based ground detection for a mobile robot platform using a single camera
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DOI：
10.1109/robot.2006.1642332
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发表时间：
2006-05
期刊：
影响因子：
--
通讯作者：
Jin Zhou;Baoxin Li
中科院分区：
文献类型：
--
作者：
Jin Zhou;Baoxin Li
This paper presents a practical approach to ground detection in mobile robot applications based on a monocular sequence captured by an on-board camera. We formulate the problem of ground plane detection as one of estimating the dominant homography between two frames taken from the sequence, and then design an efficient algorithm for the estimation. In particular, we analyze a problem inherent to any homography-based approach to the given task, and show how the proposed approach can address this problem to a large degree. Although not explicitly discussed, the proposed method can be used to guide the maneuver of the robot, as the detected ground plane can in turn be used in obstacle avoidance
