An Active Strategy for Plane Detection and Estimation with a Monocular Camera - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2014

An Active Strategy for Plane Detection and Estimation with a Monocular Camera

Abstract

Plane detection and estimation from visual data is a classical problem in robotic vision. In this work we propose a novel active strategy in which a monocular camera tries to determine whether a set of observed point features belongs to a common plane, and, if so, what are the associated plane parameters. The active component of the strategy imposes an optimized camera motion (as a function of the observed scene) able to maximize the convergence in estimating the scene structure. Based on this strategy, two methods are then proposed to solve the plane estimation task: a classical solution exploiting the homography constraint (and, thus, almost com- pletely based on image correspondances across distant frames), and an alternative method fully taking advantage of the scene structure estimated incrementally during the camera motion. The two methods are extensively compared in several case studies by discussing the various pros/cons.
Fichier principal
Vignette du fichier
2014_icra_robuffo.pdf (1.09 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-00949176 , version 1 (19-02-2014)

Identifiers

  • HAL Id : hal-00949176 , version 1

Cite

Paolo Robuffo Giordano, Riccardo Spica, François Chaumette. An Active Strategy for Plane Detection and Estimation with a Monocular Camera. IEEE Int. Conf. on Robotics and Automation, ICRA'14, Jun 2014, Hong-Kong, Hong Kong SAR China. ⟨hal-00949176⟩
400 View
238 Download

Share

Gmail Facebook X LinkedIn More