Homography-based ground plane detection for mobile robot navigation using a Modified EM algorithm.
Daniel ConradGuilherme N. DeSouzaPublished in: ICRA (2010)
Keyphrases
- ground plane
- em algorithm
- mobile robot navigation
- expectation maximization
- mixture model
- mobile robot
- multiple cameras
- maximum likelihood
- camera calibration
- gaussian mixture model
- multiple views
- camera parameters
- homography estimation
- multi camera
- object detection
- light source
- geometric constraints
- vanishing points
- multiple objects
- vision system
- image processing
- closed form
- markov random field
- semi supervised