Robust estimation of planar regions for visual navigation using sequential stereo images
Robust estimation of planar regions for visual navigation using sequential stereo images
复制标题
使用连续立体图像对视觉导航的平面区域进行鲁棒估计
DOI：
10.1109/robot.2002.1014224
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Tomoaki Hara
中科院分区：
文献类型：
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作者：
M. Okutomi;Katsuyuki Nakano;Junichi Maruyama;Tomoaki Hara
针对自主车辆的视觉导航问题，提出了一种基于序列立体图像的平面区域估计方法。该方法对立体图像和序列图像的二维投影变换进行动态估计，该变换表示空间中的平面。这可以通过利用序列信息，即投影变换和相应平面区域的先前估计来稳健地完成。此外，还提出了一种防止无纹理区域误检的方法。使用运动车辆拍摄的连续立体图像的实验结果表明，该方法即使在道路起伏、车辆摇摆和俯仰的情况下也能很好地工作。
In this paper, we propose a robust method to estimate planar regions using sequential stereo images for visual navigation of an autonomous vehicle. The proposed method estimates 2D projective transformations dynamically, which represent planes in space, for both stereo images and sequential images. This can be done robustly by utilizing sequential information, i.e. previous estimation of both the projective transformations and the corresponding planar region. In addition, a method for preventing misdetection due to textureless areas is proposed. The experimental results, using sequential stereo images taken from a moving vehicle, have shown that the proposed method can work robustly even in the conditions of undulation of the road and rolling and pitching of the vehicle.