dc.contributor.author | Conrad, Daniel, 1986- | eng |
dc.contributor.author | DeSouza, Guilherme | eng |
dc.date.issued | 2010-05 | eng |
dc.description.abstract | In this paper, a homography-based approach for
determining the ground plane using image pairs is presented. Our approach is unique in that it uses a Modified Expectation Maximization algorithm to cluster pixels on images as belonging to one of two possible classes: ground and non-ground pixels. This classification is very useful in mobile robot navigation because, by segmenting out the ground plane, we are left with all possible objects in the scene, which can then be used to
implement many mobile robot navigation algorithms such as obstacle avoidance, path planning, target following, landmark detection, etc. Specifically, we demonstrate the usefulness and robustness of our approach by applying it to a target following algorithm. As the results section shows, the proposed algorithm for ground plane detection achieves an almost perfect detection rate (over 99%) despite the relatively higher number of errors in pixel correspondence from the feature matching algorithm used: SIFT. | eng |
dc.identifier.citation | 2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA, pp.910-915. | eng |
dc.identifier.issn | 978-1-4244-5040-4/10 | eng |
dc.identifier.uri | http://hdl.handle.net/10355/9138 | eng |
dc.language | English | eng |
dc.publisher | IEEE | eng |
dc.relation.ispartof | Electrical and Computer Engineering publications (MU) | eng |
dc.relation.ispartofcommunity | University of Missouri-Columbia. College of Engineering. Department of Electrical and Computer Engineering | eng |
dc.rights | OpenAccess. | eng |
dc.rights.license | This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 License. | eng |
dc.subject | obstacle detection | eng |
dc.subject | computer vision | eng |
dc.subject | camera calibration | eng |
dc.subject.lcsh | Collineation | eng |
dc.subject.lcsh | Geometry, Projective | eng |
dc.subject.lcsh | Robots -- Programming | eng |
dc.subject.lcsh | Image processing | eng |
dc.title | Homography-Based Ground Plane Detection for Mobile Robot Navigation Using a Modified EM Algorithm | eng |
dc.type | Article | eng |