Efficient Plane-parameter Estimation Using Stereo Images
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Accession number;07A0176776
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| Title;Efficient Plane-parameter Estimation Using Stereo Images |
| Author;
SUGIMOTO SHIGEKI
(Tokyo Inst. Technology, Graduate School of Sci. and Engineering, JPN)
OKUTOMI MASATOSHI
(Tokyo Inst. Technology, Graduate School of Sci. and Engineering, JPN)
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Journal Title;IPSJ Transactions on Database
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Journal Code:Z0778A
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ISSN:0387-5806
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VOL.48;NO.SIG1(CVIM17);PAGE.24-34(2007)
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| Figure&Table&Reference;FIG.6, TBL.1, REF.13 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;For computer-vision based autonomous control of a vehicle of a mobile robot which moves around on a ground plane such as roads and floors, to estimate 3D plane parameters of the ground plane (i.e. the distance to the plane and its plane normal) is an important issue. In this paper, we propose an efficient direct method using calibrated stereo cameras for plane parameter estimation. In the proposed method, we formulate an efficient algorithm by incorporating the Inverse Compositional Image Alighment (ICIA). Our formulation reduces the computational costs in each iteration procedure and, therefore, yields a high efficiency about eight times faster than a conventional direct method. Additionally, since our approach is equivalent to homography estimation with the epipolar constraints of the stereo images, the proposed method obtains more robustness and fastness compared with the decomposition of the homography estimated by ICIA. Experimental results on both synthesized images and real images show the validity of the proposed method. (author abst.) |
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