Stereovision-based 3D planar surface estimation for wall-climbing robots.
Hao TangZhigang ZhuJizhong XiaoPublished in: IROS (2009)
Keyphrases
- stereo vision
- planar surfaces
- stereo images
- depth information
- stereo matching
- depth images
- disparity map
- stereo camera
- image pairs
- d scene
- perspective projection
- vision system
- ego motion
- stereo pair
- geometric constraints
- robust estimation
- flow field
- image matching
- high quality
- fundamental matrix
- ground plane
- data points