ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT

Naoya Ohnishi, Yoshihiko Mochizuki, Atsushi Imiya, Tomoya Sakai

2010

Abstract

We introduce an on-line segmentation of a planar area from a sequence of images for visual navigation of a robot. We assume that the robot moves autonomously in a man-made environment without any stored map in the memory or any markers in the environment. Since the robot moves in a man-made environment, we can assume that the robot workspace is a collection of spatial plane segments. The robot is needed to separate a ground plane from an image and/or images captured by imaging system mounted on the robot. The ground plane defines a collision-free space for navigation. We develop a strategy for computing the navigation direction using a hierarchical expression of plane segments in the workspace. The robot is required to extract a spatial hierarchy of plane segments from images. We propose an algorithm for plane segmentation using an optical flow field captured by an uncalibrated moving camera.

Paper Citation

in Harvard Style

Ohnishi N., Mochizuki Y., Imiya A. and Sakai T. (2010). ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 435-442. DOI: 10.5220/0002825404350442

in Bibtex Style

@conference{visapp10,
author={Naoya Ohnishi and Yoshihiko Mochizuki and Atsushi Imiya and Tomoya Sakai},
title={ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={435-442},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002825404350442},
isbn={978-989-674-028-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - ON-LINE PLANAR AREA SEGMENTATION FROM SEQUENCE OF MONOCULAR MONOCHROME IMAGES FOR VISUAL NAVIGATION OF AUTONOMOUS ROBOT
SN - 978-989-674-028-3
AU - Ohnishi N.
AU - Mochizuki Y.
AU - Imiya A.
AU - Sakai T.
PY - 2010
SP - 435
EP - 442
DO - 10.5220/0002825404350442