Title :
Ground-plane detection using stereo depth values for wheelchair guidance
Author :
Gong, K. ; Green, R.
Author_Institution :
Mechatron. Eng., Univ. of Canterbury, Christchurch, New Zealand
Abstract :
This paper proposes a plane detection algorithm from stereo camera depth data, using it to find the ground plane. The proposed algorithm ran at 30 frames per second and can successfully detect a ground plane. A simple PID wheelchair controller is implemented to correct for any heading adjustment if required based on ground plane geometries with respect to the wall.
Keywords :
electric vehicles; motion control; object detection; position control; stereo image processing; three-term control; PID wheelchair controller; ground plane geometries; ground-plane detection algorithm; stereo camera depth data; Cameras; Computer vision; Detection algorithms; Filters; Image edge detection; Image resolution; Navigation; Noise figure; Stereo vision; Wheelchairs; Plane detection; ground plane; guidance; stereo vision; wheelchair;
Conference_Titel :
Image and Vision Computing New Zealand, 2009. IVCNZ '09. 24th International Conference
Conference_Location :
Wellington
Print_ISBN :
978-1-4244-4697-1
Electronic_ISBN :
2151-2205
DOI :
10.1109/IVCNZ.2009.5378352
