Ground plane detection using an RGB-D sensor

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dc.authorid0000-0002-8649-6013
dc.authorid0000-0001-7723-3732
dc.authorid0000-0002-8649-6013en_US
dc.authorid0000-0001-7723-3732en_US
dc.contributor.authorKırcalı, Doğanen_US
dc.contributor.authorTek, Faik Borayen_US
dc.date.accessioned2015-07-14T23:46:47Z
dc.date.available2015-07-14T23:46:47Z
dc.date.issued2014-10-27
dc.departmentIşık Üniversitesi, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.departmentIşık University, Faculty of Engineering, Department of Computer Engineeringen_US
dc.description.abstractGround 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.en_US
dc.description.versionPublisher's Versionen_US
dc.description.versionAuthor Post Printen_US
dc.identifier.citationKırcalı, 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_8en_US
dc.identifier.endpage77
dc.identifier.isbn9783319094656
dc.identifier.otherWOS:000354610600008
dc.identifier.startpage69
dc.identifier.urihttps://hdl.handle.net/11729/588
dc.identifier.urihttp://dx.doi.org/10.1007/978-3-319-09465-6_8
dc.indekslendigikaynakWeb of Scienceen_US
dc.institutionauthorKırcalı, Doğanen_US
dc.institutionauthorTek, Faik Borayen_US
dc.language.isoenen_US
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.publisherSpringeren_US
dc.relation.ispartofInformation Sciences And Systems 2014en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectGround plane detectionen_US
dc.subjectKinecten_US
dc.subjectDepth-mapen_US
dc.subjectRGB-Den_US
dc.subjectAutonomous robot navigationen_US
dc.subjectObstacle detectionen_US
dc.subjectV-disparityen_US
dc.titleGround plane detection using an RGB-D sensoren_US
dc.typeConference Objecten_US

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