DocumentCode
2235862
Title
Direct plane tracking in stereo images for mobile navigation
Author
Corso, Jason ; Burschka, Darius ; Hager, Gregory
Author_Institution
Comput. Interaction & Robotics Lab., Johns Hopkins Univ., Baltimore, MD, USA
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
875
Abstract
We present a novel plane tracking algorithm based on the direct update of surface parameters from two stereo images. The plane tracking algorithm is posed as an optimization problem, and maintains an iteratively re-weighted least squares approximation of the plane´s orientation using direct pixel measurements. To facilitate autonomous operation, we include an algorithm for robust detection of significant planes in the environment. The algorithms have been implemented in a robot navigation system.
Keywords
least squares approximations; mobile robots; optimisation; robot vision; stereo image processing; tracking; autonomous operation; direct pixel measurements; direct plane tracking; least squares approximation; mobile navigation; optimization problem; robot navigation system; robust detection; stereo images; Approximation algorithms; Cameras; Iterative algorithms; Laboratories; Least squares approximation; Navigation; Pixel; Robots; Robustness; Stereo vision;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241703
Filename
1241703
Link To Document