This paper presents a floor segmentation algorithmfor indoor sequences that works with single grey-scale images.The portion of the floor closest to the camera is segmentedby judiciously joining a set of horizontal and vertical lines,previously detected. Since the proposed method is not based oncomputing the vanishing point, the system can deal with anykind of indoor scenes and adapts quickly to camera movements.A second contribution is the detection of moving features forpoints within the segmented floor area. Based on the estimatedcamera ego-motion, the ground plane homography is derived.Then, the expected optical flow for the ground points is calculatedand used for rejecting features that belong to moving obstacles.A key point of the designed method is that no restrictions on thecamera motion are imposed for the homography derivation. / <p>QC 20130610</p>
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-122238 |
| Date | January 2013 |
| Creators | Barcelo, Guillem Casas, Panahandeh, Ghazaleh, Jansson, Magnus |
| Publisher | KTH, Signalbehandling, KTH, Signalbehandling, KTH, ACCESS Linnaeus Centre, KTH, Signalbehandling, KTH, ACCESS Linnaeus Centre, Minneapolis, MN |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Conference paper, info:eu-repo/semantics/conferenceObject, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
Page generated in 0.0014 seconds