ZIB

Hits per page

hit 1 - 1 | 1 hit

Select All Export

Electronic Resource

Quantitative planar region detection (1996)

Sinclair, D. ; Blake, A.

Springer

International journal of computer vision 18 (1996), S. 77-91

add to mindlist on the mindlist

Details

ISSN: 1573-1405

Source: Springer Online Journal Archives 1860-2000

Topics: Computer Science

Notes: Abstract This paper presents a means of segmenting planar regions from two views of a scene using point correspondences. The initial selection of groups of coplanar points is performed on the basis of conservation of two five point projective invariants (groups for which this invariant is conserved are assumed to be coplanar). The five point correspondences are used to estimate a projectivity which is used to predict the change in position of other points assuming they lie on the same plane as the original four. The variance in any points new position is then used to define a distance threshold between actual and predicted position which is used as a coplanarity test to find extended planar regions. If two distinct planar regions can be found then a novel motion direction estimator suggests itself. The projection of the line of intersection of two planes in an image may also be recovered. An analytical error model is derived which relates image uncertainty in a corner's position to genuine perpendicular height of a point above a given plane in the world. The model may be used for example to predict the performance of given stereo ground plane prediction system or a monocular drivable region detection system on and AGV. The model may also be used in reverse to determine the camera resolution required if a vehicle in motion is to resolve obstacles of a given height a given distance from it.

Type of Medium: Electronic Resource

URL: http://dx.doi.org/10.1007/BF00126141

Library	Location	Call Number	Volume/Issue/Year	Availability

Others were also interested in ...

Paper (German National Licenses)

Fulltext

hit 1 - 1 | 1 hit