Robust ground plane detection for obstacle avoidance of mobile robots using a monocular camera.
Chia-How LinSin-Yi JiangYueh-Ju PuKai-Tai SongPublished in: IROS (2010)
Keyphrases
- monocular camera
- ground plane
- obstacle avoidance
- mobile robot
- path planning
- multibody
- feature tracking
- camera calibration
- multiple cameras
- multi camera
- autonomous robots
- dynamic environments
- motion planning
- multiple views
- indoor environments
- mobile robotics
- robotic systems
- camera parameters
- object detection
- autonomous navigation
- geometric constraints
- light source
- multiple objects
- motion segmentation
- multi view
- inertial sensors
- computer vision
- image features