Mobile Robot Navigation
using Ground Plane Detection(a)
The idea behind this research is that when
it comes to vision-based mobile robotic navigation, one of the most important
features to locate in a scene is the ground plane. Once this plane is found, all
other objects in a scene can be segmented out. To detect the ground plane, we
propose a homography based approach that uses a Modified Expectation
Maximization (MEM) algorithm.
We tested our approach by creating a simple target following algorithm. This
algorithm used our MEM approach to detect the ground plane in the scene. Once
the ground plane was found, the rest of the feature points we assumed to belong
to the target that we are suppose to follow. Results can be seen in the
Conrad, D. and DeSouza, G. N., "Homography-based Ground Plane
Detection for Mobile Robot Navigation Using a Modified EM Algorithm". IEEE
2010 International Conference on Robotics and Automation (ICRA), pp.910-915, May/2010, Anchorage, Alaska, USA.
DeSouza G.N., Kak A.C.,
Vision for Mobile Robot Navigation",
IEEE Transactions on Pattern Analysis and Machine Intelligence,
Vol. 24, No. 2, pp. , Feb. 2002.
(a) This research made use of GTX480s and Tesla's S1070 donated by NVIDIA via their Academic Partnership Program.