Ground plane detection using an RGB-D sensor

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Tarih

2014-10-27

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Springer

Erişim Hakkı

info:eu-repo/semantics/closedAccess

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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.

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Anahtar Kelimeler

Ground plane detection, Kinect, Depth-map, RGB-D, Autonomous robot navigation, Obstacle detection, V-disparity

Kaynak

Information Sciences And Systems 2014

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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