Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2011.6070451
Title: Homography-based ground area detection for indoor mobile robot using binocular cameras
Authors: Ke, P.
Meng, C. 
Li, J.
Liu, Y.
Issue Date: 2011
Citation: Ke, P.,Meng, C.,Li, J.,Liu, Y. (2011). Homography-based ground area detection for indoor mobile robot using binocular cameras. IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings : 30-34. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2011.6070451
Abstract: Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras is calibrated. In ground area detection, the right eye image is warped to left eye by the homography and subtracted by the left eye image. From the difference image the rough non-ground regions can be detected. Then the closed contours on the difference image and the left eye image are searched to segment them into regions. These corresponding regions are compared to judge whether they belong to ground plane. The conducted experiments show that the proposed method is valid in detecting ground area. © 2011 IEEE.
Source Title: IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/128715
ISBN: 9781612842509
ISSN: 2158219X
DOI: 10.1109/RAMECH.2011.6070451
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

3
checked on Nov 8, 2018

Page view(s)

20
checked on Sep 21, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.