EXHIBITING PLANAR STRUCTURES FROM EGOMOTION

Samia Bouchafa, Antoine Patri, Bertrand Zavidovique

2009

Abstract

This paper deals with plane extraction from a single moving camera through a new optical-flow cumulative process. We show how this c-velocity defined by analogy to the v-disparity in stereovision, could serve exhibiting any plane whatever their orientation. We focus on 3D-planar structures like obstacles, road or buildings. A translational camera motion being assumed, the c-velocity space is then a velocity cumulative frame in which planar surfaces are transformed into lines, straight or parabolic. We show in the paper how this representation makes plane extraction robust and efficient despite the poor quality of classical optical flow.

Paper Citation

in Harvard Style

Bouchafa S., Patri A. and Zavidovique B. (2009). EXHIBITING PLANAR STRUCTURES FROM EGOMOTION . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 183-188. DOI: 10.5220/0002194601830188

in Bibtex Style

@conference{icinco09,
author={Samia Bouchafa and Antoine Patri and Bertrand Zavidovique},
title={EXHIBITING PLANAR STRUCTURES FROM EGOMOTION},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={183-188},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002194601830188},
isbn={978-989-674-000-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - EXHIBITING PLANAR STRUCTURES FROM EGOMOTION
SN - 978-989-674-000-9
AU - Bouchafa S.
AU - Patri A.
AU - Zavidovique B.
PY - 2009
SP - 183
EP - 188
DO - 10.5220/0002194601830188