Ground plane detection using an RGB-D sensor
Yükleniyor...
Tarih
2014-10-27
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Ground plane detection is essential for successful navigation of vision based mobile robots. We introduce a very simple but robust ground plane detection method based on depth information obtained using anRGB-Depth sensor. We present two different variations of the method: the simplest one is robust in setups where the sensor pitch angle is fixed and has no roll, whereas the second one can handle changes in pitch and roll angles. Our comparisons show that our approach performs better than the vertical disparity approach. It produces accurate ground plane-obstacle segmentation for difficult scenes, which include many obstacles, different floor surfaces, stairs, and narrow corridors.
Açıklama
Anahtar Kelimeler
Ground plane detection, Kinect, Depth-map, RGB-D, Autonomous robot navigation, Obstacle detection, V-disparity
Kaynak
Information Sciences And Systems 2014
WoS Q Değeri
Scopus Q Değeri
Cilt
Sayı
Künye
Kırcalı, D. & Tek, F. B. (2014). Ground plane detection using an RGB-D sensor. Paper present at the Information Sciences And Systems 2014, 69-77. doi:10.1007/978-3-319-09465-6_8
