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  • Mühendislik Fakültesi / Faculty of Engineering
  • Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering
  • MF - Bildiri Koleksiyonu | Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering
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Ground plane detection using an RGB-D sensor

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Date

2014-10-27

Author

Kırcalı, Doğan
Tek, Faik Boray

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Citation

Kırcalı, D. & Tek, F. B. (2014). Ground plane detection using an RGB-D sensor. Paper present at the Information Sciences And Systems 2014, 69-77. doi:10.1007/978-3-319-09465-6_8

Abstract

Ground plane detection is essential for successful navigation of vision based mobile robots. We introduce a very simple but robust ground plane detection method based on depth information obtained using anRGB-Depth sensor. We present two different variations of the method: the simplest one is robust in setups where the sensor pitch angle is fixed and has no roll, whereas the second one can handle changes in pitch and roll angles. Our comparisons show that our approach performs better than the vertical disparity approach. It produces accurate ground plane-obstacle segmentation for difficult scenes, which include many obstacles, different floor surfaces, stairs, and narrow corridors.

Source

Information Sciences And Systems 2014

URI

https://hdl.handle.net/11729/588
http://dx.doi.org/10.1007/978-3-319-09465-6_8

Collections

  • MF - Bildiri Koleksiyonu | Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering [103]
  • WoS İndeksli Bildiri Koleksiyonu [332]



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